EP2349053A1 - Medical robotic system providing computer generated auxiliary views of a camera instrument for controlling the positioning and orienting of its tip - Google Patents

Medical robotic system providing computer generated auxiliary views of a camera instrument for controlling the positioning and orienting of its tip

Info

Publication number
EP2349053A1
EP2349053A1 EP09792281A EP09792281A EP2349053A1 EP 2349053 A1 EP2349053 A1 EP 2349053A1 EP 09792281 A EP09792281 A EP 09792281A EP 09792281 A EP09792281 A EP 09792281A EP 2349053 A1 EP2349053 A1 EP 2349053A1
Authority
EP
European Patent Office
Prior art keywords
camera
tip
input device
entry guide
instrument
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP09792281A
Other languages
German (de)
French (fr)
Other versions
EP2349053B1 (en
Inventor
Nicola Diolaiti
David Q. Larkin
Daniel Gomez
Tabish Mustafa
Paul W. Mohr
Paul E. Lilagan
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Intuitive Surgical Operations Inc
Original Assignee
Intuitive Surgical Operations Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Intuitive Surgical Operations Inc filed Critical Intuitive Surgical Operations Inc
Priority to EP16173584.0A priority Critical patent/EP3115159B1/en
Publication of EP2349053A1 publication Critical patent/EP2349053A1/en
Application granted granted Critical
Publication of EP2349053B1 publication Critical patent/EP2349053B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147Holding or positioning arrangements
    • A61B1/00149Holding or positioning arrangements using articulated arms
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00002Operational features of endoscopes
    • A61B1/00004Operational features of endoscopes characterised by electronic signal processing
    • A61B1/00006Operational features of endoscopes characterised by electronic signal processing of control signals
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00002Operational features of endoscopes
    • A61B1/00004Operational features of endoscopes characterised by electronic signal processing
    • A61B1/00009Operational features of endoscopes characterised by electronic signal processing of image signals during a use of endoscope
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00002Operational features of endoscopes
    • A61B1/00039Operational features of endoscopes provided with input arrangements for the user
    • A61B1/00042Operational features of endoscopes provided with input arrangements for the user for mechanical operation
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00002Operational features of endoscopes
    • A61B1/00043Operational features of endoscopes provided with output arrangements
    • A61B1/00045Display arrangement
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00002Operational features of endoscopes
    • A61B1/00043Operational features of endoscopes provided with output arrangements
    • A61B1/00045Display arrangement
    • A61B1/0005Display arrangement combining images e.g. side-by-side, superimposed or tiled
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00064Constructional details of the endoscope body
    • A61B1/00066Proximal part of endoscope body, e.g. handles
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00064Constructional details of the endoscope body
    • A61B1/00071Insertion part of the endoscope body
    • A61B1/0008Insertion part of the endoscope body characterised by distal tip features
    • A61B1/00087Tools
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00064Constructional details of the endoscope body
    • A61B1/00071Insertion part of the endoscope body
    • A61B1/0008Insertion part of the endoscope body characterised by distal tip features
    • A61B1/00096Optical elements
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147Holding or positioning arrangements
    • A61B1/00154Holding or positioning arrangements using guiding arrangements for insertion
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00163Optical arrangements
    • A61B1/00174Optical arrangements characterised by the viewing angles
    • A61B1/00183Optical arrangements characterised by the viewing angles for variable viewing angles
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/04Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/04Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
    • A61B1/05Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances characterised by the image sensor, e.g. camera, being in the distal end portion
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/12Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with cooling or rinsing arrangements
    • A61B1/126Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with cooling or rinsing arrangements provided with means for cleaning in-use
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/233Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the nose, i.e. nasoscopes, e.g. testing of patency of Eustachian tubes
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/313Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/24Surgical instruments, devices or methods, e.g. tourniquets for use in the oral cavity, larynx, bronchial passages or nose; Tongue scrapers
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30Surgical robots
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30Surgical robots
    • A61B34/37Master-slave robots
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70Manipulators specially adapted for use in surgery
    • A61B34/74Manipulators with manual electric input means
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70Manipulators specially adapted for use in surgery
    • A61B34/77Manipulators with motion or force scaling
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00Measuring for diagnostic purposes; Identification of persons
    • A61B5/06Devices, other than using radiation, for detecting or locating foreign bodies ; determining position of probes within or on the body of the patient
    • A61B5/065Determining position of the probe employing exclusively positioning means located on or in the probe, e.g. using position sensors arranged on the probe
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36Image-producing devices or illumination devices not otherwise provided for
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61MDEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M29/00Dilators with or without means for introducing media, e.g. remedies
    • A61M29/02Dilators made of swellable material
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00Controls for manipulators
    • B25J13/08Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J3/00Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00Image analysis
    • G06T7/70Determining position or orientation of objects or cameras
    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06VIMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V30/00Character recognition; Recognising digital ink; Document-oriented image-based pattern recognition
    • G06V30/10Character recognition
    • G06V30/22Character recognition characterised by the type of writing
    • G06V30/224Character recognition characterised by the type of writing of printed characters having additional code marks or containing code marks
    • GPHYSICS
    • G09EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09BEDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B23/00Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes
    • G09B23/28Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine
    • G09B23/285Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine for injections, endoscopy, bronchoscopy, sigmoidscopy, insertion of contraceptive devices or enemas
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00017Electrical control of surgical instruments
    • A61B2017/00115Electrical control of surgical instruments with audible or visual output
    • A61B2017/00119Electrical control of surgical instruments with audible or visual output alarm; indicating an abnormal situation
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/101Computer-aided simulation of surgical operations
    • A61B2034/102Modelling of surgical devices, implants or prosthesis
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2074Interface software
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30Surgical robots
    • A61B2034/301Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30Surgical robots
    • A61B2034/305Details of wrist mechanisms at distal ends of robotic arms
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36Image-producing devices or illumination devices not otherwise provided for
    • A61B2090/364Correlation of different images or relation of image positions in respect to the body
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36Image-producing devices or illumination devices not otherwise provided for
    • A61B2090/364Correlation of different images or relation of image positions in respect to the body
    • A61B2090/365Correlation of different images or relation of image positions in respect to the body augmented reality, i.e. correlating a live optical image with another image
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/03Automatic limiting or abutting means, e.g. for safety
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36Image-producing devices or illumination devices not otherwise provided for
    • A61B90/361Image-producing devices, e.g. surgical cameras

Definitions

  • the present invention generally relates to medical robotic systems and in particular, to a medical robotic system providing computer generated auxiliary views of a camera instrument for controlling the positioning and orienting of its tip.
  • Medical robotic systems such as systems used in performing minimally invasive surgical procedures offer many benefits over traditional open surgery techniques, including less pain, shorter hospital stays, quicker return to normal activities, minimal scarring, reduced recovery time, and less injury to tissue. Consequently, demand for such medical robotic systems is strong and growing.
  • the da Vinci* Surgical System has a number of robotic arms that move attached medical devices, such as an image capturing device and Intuitive Surgical' s proprietary EndoWrist* articulating surgical instruments, in response to movement of input devices by a surgeon viewing images captured by the image capturing device of a surgical site.
  • Each of the medical devices is inserted through its own minimally invasive incision into the patient and positioned to perform a medical procedure at the surgical site.
  • the incisions are placed about the patient's body so that the surgical instruments may be used to cooperatively perform the medical procedure and the image capturing device may view it without their robotic arms colliding during the procedure.
  • a single entry aperture such as a minimally invasive incision or a natural body orifice
  • an entry guide may first be inserted, positioned, and held in place in the entry aperture.
  • Instruments such as an articulatable camera and a plurality of articulatable surgical tools, which are used to perform the medical procedure, may then be inserted into a proximal end of the entry guide so as to extend out of its distal end.
  • the entry guide provides a single entry aperture for multiple instruments while keeping the instruments bundled together as it guides them toward the work site.
  • the entry guide generally has a relatively small diameter in order to fit through a minimally invasive incision or a natural body orifice, a number of problems may arise while teleoperating the surgical tools to perform the medical procedure and the camera to view it.
  • the camera instrument is bundled with the surgical tools, it is limited in its positioning relative to the surgical tools and consequently, its view of the surgical tools.
  • links coupled by controllable joints which facilitate the articulatability of the surgical tools may not be in the field of view of the camera.
  • the links of the surgical tools may inadvertently collide with each other (or with a link of the camera instrument) during the performance of a medical procedure and as a result, cause harm to the patient or otherwise adversely impact the performance of the medical procedure.
  • one object of one or more aspects of the present invention is a method implemented in a medical robotic system that provides a computer generated auxiliary view of a camera for positioning and orienting the camera.
  • Another object of one or more aspects of the present invention is a method implemented in a medical robotic system that provides intuitive control to an operator controlling the positioning and orienting of a camera while viewing an auxiliary view of the camera.
  • Another object of one or more aspects of the present invention is a method implemented in a medical robotic system that improves an operator's understanding of the configuration of linkages of articulatable instruments that are outside of the field of view of a camera while controllably positioning and orienting the camera.
  • one aspect is a method for positioning and orienting a camera tip (i.e., the viewing or image capturing end of the camera), the method comprising: determining positions of mechanical elements used for positioning and orienting the camera tip; determining a position and orientation of the camera tip using the determined positions of the mechanical elements; generating a view of a computer model of the camera corresponding to a perspective of a virtual camera; displaying the view on a display screen; and controlling the positioning and orienting of the camera tip by moving the mechanical elements in response to manipulation of an input device so that the positioning and orienting of the camera tip intuitively appears to an operator who is manipulating the input device while viewing the display screen to correspond to the displayed view of the computer model of the camera.
  • Another aspect is a medical robotic system comprising a camera, mechanical elements used for positioning and orienting a tip of the camera, a display screen, an input device, and a controller.
  • the controller is configured to determine positions of the mechanical elements, determine a position and orientation of the camera tip using the determined positions of the mechanical elements, generate a view of a computer model of the camera corresponding to a perspective of a virtual camera, display the view on the display screen, and control the positioning and orienting of the camera tip by moving the mechanical elements in response to manipulation of the input device so that the positioning and orienting of the camera tip intuitively appears to an operator who is manipulating the input device while viewing the display screen to correspond to the displayed view of the computer model of the camera.
  • FIG. 1 illustrates a top view of an operating room employing a medical robotic system utilizing aspects of the present invention.
  • FIG. 2 illustrates a block diagram of components for controlling and selectively associating device manipulators to left and right hand-manipulatable input devices in a medical robotic system utilizing aspects of the present invention.
  • FIGS. 3-4 respectively illustrate top and side views of an articulatable camera and a pair of articulatable surgical tools extending out of a distal end of an entry guide as used in a medical robotic system utilizing aspects of the present invention.
  • FIG. 5 illustrates a perspective view of an entry guide and its four degrees-of-freedom movement as used in a medical robotic system utilizing aspects of the present invention.
  • FIG. 6 illustrates a cross-sectional view of an entry guide with passages defined therein that extend between its proximal and distal ends as used in a medical robotic system utilizing aspects of the present invention.
  • FIG. 7 illustrates a block diagram of interacting components of an entry guide manipulator as used in a medical robotic system utilizing aspects of the present invention.
  • FIG. 8 illustrates a block diagram of interacting components of an articulatable instrument manipulator and an articulatable instrument as used in a medical robotic system utilizing aspects of the present invention.
  • FIG. 9 illustrates a flow diagram of a method for providing a computer generated auxiliary view, utilizing aspects of the present invention.
  • FIG. 10 illustrates a data and processing flow diagram to determine instrument link positions and orientations using instrument joint positions and forward kinematics, as used in a medical robotic system utilizing aspects of the present invention.
  • FIG. 11 illustrates a data and processing flow diagram to determine instrument joint positions using a sensed instrument tip position and inverse kinematics, as used in a medical robotic system utilizing aspects of the present invention.
  • FIGS. 12-13 respectively illustrate top and side auxiliary views as generated and displayed on a display screen by a method implemented in a medical robotic system utilizing aspects of the present invention.
  • FIG. 14 illustrates top and side auxiliary views as generated and displayed in separate windows on a display screen by a method implemented in a medical robotic system utilizing aspects of the present invention.
  • FIG. 15 illustrates an auxiliary view displayed adjacent to an image captured by the articulatable camera on a monitor in a medical robotic system utilizing aspects of the present invention.
  • FIG. 16 illustrates an auxiliary side view of an articulatable camera having a frustum as generated and displayed by a method implemented in a medical robotic system utilizing aspects of the present invention on a display screen.
  • FIG. 17 illustrates a combined display of an auxiliary view of a pair of articulatable surgical tools from a viewing point of a camera, along with an image captured by the camera, as generated and displayed by a method implemented in a medical robotic system utilizing aspects of the present invention on a display screen.
  • FIG. 18 illustrates a flow diagram of a method for providing auxiliary viewing modes that correspond to device control modes in a medical robotic system, utilizing aspects of the present invention.
  • FIG. 19 illustrates a flow diagram of a method for positioning and orienting a camera tip utilizing aspects of the present invention.
  • FIG. 20 illustrates a side view of an articulatable camera and articulatable surgical tool extending out of a distal end of an entry guide with a zero position reference frame shown relative to a computer generated auxiliary view as used in a medical robotic system utilizing aspects of the present invention.
  • FIG. 21 illustrates a side view of an articulatable camera and articulatable surgical tool extending out of a distal end of an entry guide with an isometric auxiliary view reference frame shown relative to a computer generated auxiliary view as used in a medical robotic system utilizing aspects of the present invention.
  • FIG. 22 illustrates a block diagram of a camera controller as used in a medical robotic system utilizing aspects of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT
  • FIG. 1 illustrates, as an example, a top view of an operating room in which a medical robotic system 100 is being utilized by a Surgeon 20 for performing a medical procedure on a Patient 40 who is lying face up on an operating table 50.
  • One or more Assistants 30 may be positioned near the Patient 40 to assist in the procedure while the Surgeon 20 performs the procedure teleoperatively by manipulating input devices 108, 109 on a surgeon console 10.
  • an entry guide (EG) 200 is inserted through a single entry aperture 150 into the Patient 40.
  • the entry aperture 150 is a minimally invasive incision in the present example, in the performance of other medical procedures, it may instead be a natural body orifice.
  • the entry guide 200 is held and manipulated by a robotic arm assembly 130.
  • the robotic arm assembly 130 includes a setup arm and an entry guide manipulator.
  • the setup arm is used to position the entry guide 200 at the entry aperture 150 so that it properly enters the entry aperture 150.
  • the entry guide manipulator is then used to robotically insert and retract the entry guide 200 into and out of the entry aperture 150. It may also be used to robotically pivot the entry guide 200 in pitch, roll and yaw about a pivot point located at the entry aperture 150.
  • An example of such an entry guide manipulator is the entry guide manipulator 202 of FIG. 2 and an example of the four degrees-of- freedom movement that it manipulates the entry guide 200 with is shown in FIG. 5.
  • the console 10 includes a 3-D monitor 104 for displaying a 3-D image of a surgical site to the Surgeon, left and right hand-manipulatable input devices 108, 109, and a processor (also referred to herein as a ⁇ controller") 102.
  • the input devices 108, 109 may include any one or more of a variety of input devices such as joysticks, gloves, trigger-guns, hand- operated controllers, or the like.
  • Other input devices that are provided to allow the Surgeon to interact with the medical robotic system 100 include a foot pedal 105, a conventional voice recognition system 160 and a Graphical User Interface (GUI) 170.
  • GUI Graphical User Interface
  • An auxiliary display screen 140 is coupled to the console 10 (and processor 102) for providing auxiliary views to the Surgeon to supplement those shown on the monitor 104.
  • a second auxiliary display screen 140' is also coupled to the console 10 (and processor 102) for providing auxiliary views to the Assistant (S) .
  • An input device 180 is also coupled to the console to allow the Assistant (s) to select between available auxiliary views for display on the second auxiliary display screen 140' .
  • the console 10 is usually located in the same room as the Patient so that the Surgeon may directly monitor the procedure, is physically available if necessary, and is able to speak to the Assistant (s) directly rather than over the telephone or other communication medium.
  • the console 10 may be connected to the second auxiliary display screen 140' and input device 180 through a network connection such as a local area network, wide area network, or the Internet.
  • the entry guide 200 has articulatable instruments such as articulatable surgical tools 231, 241 and an articulatable stereo camera 211 extending out of its distal end. Although only two tools 231, 241 are shown, the entry guide 200 may guide additional tools as required for performing a medical procedure at a work site in the Patient. For example, as shown in PIG. 4, a passage 351 is available for extending another articulatable surgical tool through the entry guide 200 and out through its distal end. Each of the surgical tools 231, 241 is associated with one of the input devices 108, 109 in a tool following mode.
  • the Surgeon performs a medical procedure by manipulating the input devices 108, 109 so that the controller 102 causes corresponding movement of their respectively associated surgical tools 231, 241 while the Surgeon views the work site in 3-D on the console monitor 104 as images of the work site are being captured by the articulatable camera 211.
  • input devices 108, 109 will be provided with at least the same degrees of freedom as their associated tools 231, 241 to provide the Surgeon with telepresence, or the perception that the input devices 108, 109 are integral with the tools 231, 241 so that the Surgeon has a strong sense of directly controlling the tools 231, 241.
  • the monitor 104 is also positioned near the Surgeon's hands so that it will display a projected image that is oriented so that the Surgeon feels that he or she is actually looking directly down onto the work site and images of the tools 231, 241 appear to be located substantially where the Surgeon's hands are located.
  • the real-time image on the monitor 104 is preferably projected into a perspective image such that the
  • true presence it is meant that the presentation of an image is a true perspective image simulating the viewpoint of an operator that is physically manipulating the end effectors 331, 341.
  • the processor 102 may transform the coordinates of the end effectors 331, 341 to a perceived position so that the perspective image being shown on the monitor 104 is the image that the Surgeon would see if the Surgeon was located directly behind the end effectors 331, 341.
  • the processor 102 performs various functions in the system 100.
  • One important function that it performs is to translate and transfer the mechanical motion of input devices 108, 109 through control signals over bus 110 so that the Surgeon can effectively manipulate devices, such as the tools 231, 241, camera 211, and entry guide 200, that are selectively associated with the input devices 108, 109 at the time.
  • Another function is to perform various methods and controller functions described herein.
  • processor 102 may be implemented in practice by any combination of hardware, software and firmware. Also, its functions as described herein may be performed by one unit or divided up among different components, each of which may be implemented in turn by any combination of hardware, software and firmware. Further, although being shown as part of or being physically adjacent to the console 10, the processor 102 may also comprise a number of subunits distributed throughout the system.
  • FIG. 2 illustrates, as an example, a block diagram of components for controlling and selectively associating device manipulators to the input devices 108, 109.
  • Various surgical tools such as graspers, cutters, and needles may be used to perform a medical procedure at a work site within the Patient.
  • two surgical tools 231, 241 are used to roboticalIy perform the procedure and the camera 211 is used to view the procedure.
  • the tools 231, 241 and camera 211 are inserted through passages in the entry guide 200.
  • the entry guide 200 is inserted into the Patient through entry aperture 150 using the setup portion of the robotic arm assembly 130 and maneuvered by the entry guide manipulator (EGM) 202 of the robotic arm assembly 130 towards the work site where the medical procedure is to be performed.
  • EMM entry guide manipulator
  • Each of the devices 231, 241, 211, 200 is manipulated by its own manipulator.
  • the camera 211 is manipulated by a camera manipulator (ECM) 212
  • the first surgical tool 231 is manipulated by a first tool manipulator (PSMl) 232
  • the second surgical tool 241 is manipulated by a second tool manipulator (PSM2) 242
  • the entry guide 200 is manipulated by an entry guide manipulator (EGM) 202.
  • Each of the instrument manipulators 232, 242, 212 is a mechanical assembly that carries actuators and provides a mechanical, sterile interface to transmit motion to its respective articulatable instrument.
  • Each instrument 231, 241, 211 is a mechanical assembly that receives the motion from its manipulator and, by means of a cable transmission, propagates the motion to its distal articulations (e.g., joints) .
  • Such joints may be prismatic (e.g., linear motion) or rotational (e.g., they pivot about a mechanical axis).
  • the instrument may have internal mechanical constraints (e.g., cables, gearing, cams, belts, etc.) that force multiple joints to move together in a pre-determined fashion.
  • Each set of mechanically constrained joints implements a specific axis of motion, and constraints may be devised to pair rotational joints (e.g., joggle joints). Note also that in this way the instrument may have more joints than the available actuators.
  • the entry guide manipulator 202 has a different construction and operation. A description of the parts and operation of the entry guide manipulator 202 is described below in reference to FIG. 7.
  • each of the input devices 108, 109 may be selectively associated with one of the devices 211, 231, 241, 200 so that the associated device may be controlled by the input device through its controller and manipulator.
  • the left and right input devices 108, 109 may be respectively associated with the first and second surgical tools 231, 241, which are telerobotically controlled through their respective controllers 233, 243 (preferably implemented in the processor 102) and manipulators 232, 242 so that the Surgeon may perform a medical procedure on the Patient while the entry guide 200 is locked in place.
  • either one or both of the left and right input devices 108, 109 may be associated with the camera 211 or entry guide 200 so that the Surgeon may move the camera 211 or entry guide 200 through its respective controller (213 or 203) and manipulator (212 or 202) .
  • the disassociated one ⁇ s) of the surgical tools 231, 241 is locked in place relative to the entry guide 200 by its controller.
  • the left and right input devices 108, 109 may be associated with the camera 211, which is telerobotically controlled through its controller 213 (preferably implemented in the processor 102) and manipulator 212 so that the Surgeon may position the camera 211 while the surgical tools 231, 241 and entry guide 200 are locked in place by their respective controllers 233, 243, 203. If only one input device is to be used for positioning the camera, then only one of the switches 258, 259 is placed in its camera positioning mode while the other one of the switches 258, 259 remains in its tool following mode so that its respective input device may continue to control its associated surgical tool.
  • the left and right input devices 108, 109 may be associated with the entry guide 200, which is telerobotically controlled through its controller 203 ⁇ preferably implemented in the processor 102) and manipulator 202 so that the Surgeon may position the entry guide 200 while the surgical tools 231, 241 and camera 211 are locked in place relative to the entry guide 200 by their respective controllers 233, 243, 213.
  • the selective association of the input devices 108, 109 to other devices in this example may be performed by the Surgeon using the GUI 170 or the voice recognition system 160 in a conventional manner.
  • the association of the input devices 108, 109 may be changed by the Surgeon depressing a button on one of the input devices 108, 109 or depressing the foot pedal 105, or using any other well known mode switching technique.
  • FIGS. 3-4 respectively illustrate, as examples, top and right side views of a distal end of the entry guide 200 with the camera 211 and surgical tools 231, 241 extending outward.
  • the entry guide 200 is generally cylindrical in shape and has a longitudinal axis X' running centrally along its length.
  • the pivot point which is also referred to as a remote center "RC" serves as an origin for both a fixed reference frame having X, Y and Z axes as shown and an entry guide reference frame having X' , Y' and Z' axes as shown.
  • the entry guide manipulator 202 When the system 100 is in the entry guide positioning mode, the entry guide manipulator 202 is capable of pivoting the entry guide 200 in response to movement of one or more associated input devices about the Z axis (which remains fixed in space) at the remote center "RC" in yaw ⁇ .
  • the entry guide manipulator 202 is capable of pivoting the entry guide 200 in response to movement of the one or more input devices about the Y' axis (which is orthogonal to the longitudinal axis X f of the entry guide 200 ⁇ in pitch ⁇ , capable of rotating the entry guide 200 about its longitudinal axis X' in roll ⁇ , and linearly moving the entry guide 200 along its longitudinal axis X f in insertion/retraction or in/out "I/O" directions in response to movement of the one or more associated input devices.
  • the X' and Y' axes move with the entry guide 200.
  • the entry guide manipulator (EGM) 202 has four actuators 701-704 for actuating the four degrees- of-freedom movement of the entry guide 200 (i.e., pitch ⁇ , yaw ⁇ , roll ⁇ , and in/out I/O) and four corresponding assemblies 711-714 to implement them.
  • the articulatable camera 211 extends through passage 321 and the articulatable surgical tools 231, 241 respectively extend through passages 431, 441 of the entry guide 200.
  • the camera 211 includes a tip 311 (which houses a stereo camera connected to a camera controller and a fiber-optic cable connected to an external light source) , first, second, and third links 322, 324, 326, first and second joint assemblies ⁇ also referred to herein simply as "joints”) 323, 325, and a wrist assembly 327.
  • the first joint assembly 323 couples the first and second links 322, 324 and the second joint assembly 325 couples the second and third links 324, 326 so that the second link 324 may pivot about the first joint assembly 323 in pitch and yaw while the first and third links 322, 326 remain parallel to each other.
  • the first and second joints 323, 325 are referred to as “joggle joints", because they cooperatively operate together so that as the second link 324 pivots about the first joint 323 in pitch and/or yaw, the third link 326 pivots about the second joint 325 in a complementary fashion so that the first and third links 322, 326 always remain parallel to each other.
  • the first link 322 may also rotate around its longitudinal axis in roll as well as move in and out (e.g., insertion towards the work site and retraction from the worksite) through the passage 321.
  • the wrist assembly 327 also has pitch and yaw angular movement capability so that the camera's tip 311 may be oriented up or down and to the right or left, and combinations thereof.
  • the joints and links of the tools 231, 241 are similar in construction and operation to those of the camera 211.
  • the tool 231 includes an end effector 331 (having jaws 338, 339), first, second, and third links 332, 334, 336, first and second joint assemblies 333, 335, and a wrist assembly 337 that are driven by actuators such as described in reference to PIG. 8 ⁇ plus an additional actuator for actuating the end effector 331) .
  • the tool 241 includes an end effector 341 (having jaws 348, 349) , first, second, and third links 342, 344, 346, first and second joint assemblies 343,345, and a wrist assembly 347 that are also driven by actuators such as described in reference to FIG. 8 (plus an additional actuator for actuating the end effector 341) .
  • FIG. 8 illustrates, as an example, a diagram of interacting parts of an articulatable instrument (such as the articulatable camera 211 and the articulatable surgical tools 231, 241) and its corresponding instrument manipulator ⁇ such as the camera manipulator 212 and the tool manipulators 232, 242 ⁇ .
  • Each of the instruments includes a number of actuatable assemblies 821-823, 831-833, 870 for effectuating articulation of the instrument ⁇ including its end effector), and its corresponding manipulator includes a number of actuators 801- 803, 811-813, 860 for actuating the actuatable assemblies.
  • pitch/yaw coupling mechanisms 840, 850 ⁇ respectively for the joggle joint pitch/yaw and the wrist pitch/yaw) and gear ratios 845, 855 (respectively for the instrument roll and the end effector actuation) are provided in a sterile manipulator/instrument interface to achieve the required range of motion of the instrument joints in instrument joint space while both satisfying compactness constraints in the manipulator actuator space and preserving accurate transmissions of motion across the interface.
  • the coupling between the joggle joint actuators 801, 802 (differentiated as #1 and #2) and joggle joint pitch/yaw assemblies 821, 822 may include a pair of coupling mechanisms - one on each side of the sterile interface ⁇ i.e., one on the manipulator side of the interface and one on the instrument side of the interface) .
  • the coupling between the wrist actuators 812, 813 (differentiated as #1 and #2) and wrist pitch/yaw joint assemblies 832, 833 may also comprise a pair of coupling mechanisms - one on each side of the sterile interface.
  • Both the joggle joint pitch assembly 821 and the joggle joint yaw assembly 822 share the first, second and third links (e.g., links 322, 324, 326 of the articulatable camera 211) and the first and second joints (e.g., joints 322, 325 of the articulatable camera 211) .
  • the joggle joint pitch and yaw assemblies 821, 822 also include mechanical couplings that couple the first and second joints (through joggle coupling 840) to the joggle joint pitch and yaw actuators 801, 802 so that the second link may control lably pivot about a line passing through the first joint and along an axis that is latitudinal to the longitudinal axis of the first link (e.g., link 322 of the articulatable camera 211) and the second link may controllably pivot about a line passing through the first joint and along an axis that is orthogonal to both the latitudinal and longitudinal axes of the first link.
  • the second link may control lably pivot about a line passing through the first joint and along an axis that is latitudinal to the longitudinal axis of the first link (e.g., link 322 of the articulatable camera 211) and the second link may controllably pivot about a line passing through the first joint and along an axi
  • the in/out (I/O) assembly 823 includes the first link (e.g., link 322 of the articulatable camera 211) and interfaces through a drive train coupling the in/out (I/O) actuator 803 to the first link so that the first link is controllably moved linearly along its longitudinal axis by actuation of the I/O actuator 803.
  • first link e.g., link 322 of the articulatable camera 211
  • I/O actuator 803 to the first link so that the first link is controllably moved linearly along its longitudinal axis by actuation of the I/O actuator 803.
  • the roll assembly 831 includes the first link and interfaces through one or more gears (i.e., having the gear ratio 845) that couple a rotating element of the roll actuator 811 (such as a rotor of a motor) to the first link so that the first link is controllably rotated about its longitudinal axis by actuation of the roll actuator 811,
  • the instrument manipulator ⁇ e.g., camera manipulator 212) includes wrist actuators 812, 813 that actuate through wrist coupling 850 pitch and yaw joints 832, 833 of the wrist assembly (e.g., wrist 327 of the articulatable camera 211) so as to cause the instrument tip (e.g., camera tip 311) to controllably pivot in an up-down (i.e., pitch) and side-to-side (i.e., yaw) directions relative to the wrist assembly.
  • a rotating element of the roll actuator 811 such as a rotor of a motor
  • the grip assembly 870 includes the end effector (e.g., end effector 331 of the surgical tool 231) and interfaces through one or more gears (i.e., having the gear ratio 855) that couple the grip actuator 860 to the end effector so as to controllably actuate the end effector.
  • end effector e.g., end effector 331 of the surgical tool 231
  • gears i.e., having the gear ratio 855
  • FIG. 9 illustrates, as an example, a flow diagram of a method implemented in controller 102 of the medical robotic system 100 for providing a computer generated auxiliary view including articulatable instruments, such as the articulatable camera 211 and/or one or more of the articulatable surgical tools 231, 241, extending out of the distal end of the entry guide 200.
  • articulatable instruments such as the articulatable camera 211 and/or one or more of the articulatable surgical tools 231, 241, extending out of the distal end of the entry guide 200.
  • the articulatable camera 211 and surgical tools 231, 241 extend out of the distal end of the entry guide 200 and are included in the auxiliary view.
  • the method is applicable to any combination of articulatable instruments, including those without an articulatable camera and/or those with an alternative type of image capturing device such as an ultrasound probe.
  • the method determines whether or not an auxiliary view is to be generated. If the determination in 901 is NO, then the method loops back to periodically check to see whether the situation has changed. On the other hand, if the determination in 901 is YES, then the method proceeds to 902.
  • the indication that an auxiliary view is to be generated may be programmed into the controller 102, created automatically or created by operator command.
  • the method receives state information, such as positions and orientations, for each of the instruments 211, 231, 241 and the entry guide 200.
  • This information may be provided by encoders coupled to the actuators in their respective manipulators 212, 232, 242, 202.
  • the information may be provided by sensors coupled to joints and/or links of the instruments 211, 231, 241 and the entry guide manipulator 202, or the coupling mechanisms, gears and drive trains of the interface between corresponding manipulators and instruments, so as to measure their movement.
  • the sensors may be included in the instruments 211, 231, 241 and entry guide manipulator 202 such as rotation sensors that sense rotational movement of rotary joints and linear sensors that sense linear movement of prismatic joints in the instruments 211, 231, 241 and entry guide manipulator 202.
  • Other sensors may also be used for providing information of the positions and orientations of the instruments 211, 231, 241 and entry guide 200 such as external sensors that sense and track trackable elements, which may be active elements (e.g., radio frequency, electromagnetic, etc.) or passive elements (e.g., magnetic, etc.), placed at strategic points on the instruments 211, 231, 241, the entry guide 200 and/or the entry guide manipulator 202 (such as on their joints, links and/or tips) ⁇
  • active elements e.g., radio frequency, electromagnetic, etc.
  • passive elements e.g., magnetic, etc.
  • the method generates a three-dimensional computer model of the articulatable camera 211 and articulatable surgical tools 231, 241 extending out of the distal end of the entry guide 200 using the information received in 902 and the forward kinematics and known constructions of the instruments
  • the generated computer model in this example may be referenced to the remote center reference frame ⁇ X, Y, Z axes) depicted in FIG. 5.
  • the generated computer model may be referenced to a reference frame defined at the distal end of the entry guide 200. In this latter case, if the orientation and extension of the entry guide 200 from the remote center does not have to be accounted for in the auxiliary view that is being generated by the method, then the position and orientation information for the entry guide 200 may be omitted in 902.
  • the state information received in 902 is the instruments' joint positions 1001
  • this information may be applied to the instruments' forward kinematics 1002 using the instruments' kinematic models 1003 to generate the instruments' link positions and orientations 1005 relative to reference frame 1004.
  • the same process may also be generally applied if the state information received in 902 is sensed states of the joggle coupling and gear mechanisms in the manipulator/instrument interfaces.
  • the state information received in 902 is the instruments' tip positions 1101 ⁇ in the reference frame 1004 ⁇ .
  • this information may be applied to the instruments' inverse kinematics 1102 using the instruments' kinematic models 1003 and the sensor reference frame to generate the instruments' joint positions 1001.
  • the instruments' joint positions 1001 may then be applied as described in reference to FIG. 10 to generate the instruments' link positions and orientations 1005 relative to reference frame 1004.
  • the positions of the tips of the surgical tools 231, 241 may be determined relative to the camera reference frame by identifying the tips in the image captured by the camera 211 using conventional image processing techniques and then translating their positions to the reference frame 1004, so that the positions of the camera and tool tips may be applied as described in reference to FIGS. 10, 11 to generate the instruments' link positions and orientations 1005 relative to the reference frame 1004.
  • the method adjusts the view of the computer model of the articulatable camera 211 and articulatable surgical tools 231, 241 extending out of the distal end of the entry guide 200 in the three-dimensional space of the reference frame to a specified viewing point (wherein the term "viewing point” is to be understood herein to include position and orientation) .
  • FIG. 12 illustrates a top view of the articulatable camera 211 and articulatable surgical tools 231, 241 extending out of the distal end of the entry guide 200 which corresponds to a viewing point above and slightly behind the distal end of the entry guide 200.
  • FIG. 12 illustrates a top view of the articulatable camera 211 and articulatable surgical tools 231, 241 extending out of the distal end of the entry guide 200 which corresponds to a viewing point above and slightly behind the distal end of the entry guide 200.
  • FIG. 12 illustrates a top view of the articulatable camera 211 and articulatable surgical tools 231, 241 extending out of the distal end
  • FIGS. 12-13 illustrates a side view of the articulatable camera 211 and articulatable surgical tools 231, 241 extending out of the distal end of the entry guide 200 which corresponds to a viewing point to the right and slightly in front of the distal end of the entry guide 200.
  • the auxiliary views depicted in FIGS. 12-13 are two-dimensional, they may also be three-dimensional views since three-dimensional information is available from the generated computer model. In this latter case, the auxiliary display screen 140 that they are being displayed on would have to be a three-dimensional display screen like the monitor 104.
  • the viewing point may be set at a fixed point such as one providing an isometric (three-dimensional) view from the perspective shown in FIG. 12.
  • This perspective provides a clear view to the surgeon of the articulatable camera 211 and the articulatable surgical tools 231, 241 when the tools 231, 241 are bent "elbows out” as shown (which is a typical configuration for performing a medical procedure using the surgical tools 231, 241) .
  • a third surgical tool is being used (e.g., inserted in the passage 351 shown in FIG. 6)
  • a side view from the perspective of FIG. 13 may additionally be useful since the third surgical tool may be beneath the articulatable camera 211 and therefore obscured by it in the perspective shown in FIG. 12.
  • the viewing point may also be automatically changed depending upon the control mode (i.e., one of the modes described in reference to FIG. 2) that is operative at the time.
  • FIG. 18 illustrates a method for automatically changing the auxiliary viewing mode depending upon the control mode currently operative in the medical robotic system 100.
  • a first auxiliary viewing mode is performed in 1802 when the medical robotic system 100 is determined in 1801 to be in a tool following mode
  • a second auxiliary viewing mode is performed in 1804 when the medical robotic system 100 is determined in 1803 to be in an entry guide positioning mode
  • a third auxiliary viewing mode is performed in 1806 when the medical robotic system 100 is determined in 1805 to be in a camera positioning mode.
  • the viewing modes for each control mode are selected so as to be most beneficial to the surgeon for performing actions during that mode.
  • the entry guide positioning mode the articulatable camera 211 and the articulatable surgical tools 231, 241 are locked in position relative to the entry guide 200 and therefore, an auxiliary view providing information on other things such as depicted in FIGS. 16 and 17 may be useful.
  • GUI 170 or voice recognition system 160 may be adapted to provide an interactive means for the Surgeon to select the viewing mode and/or change the viewing point of an auxiliary view of the articulatable camera 211 and/or articulatable surgical tools 231, 241 as they extend out of the distal end of the entry guide 200.
  • Buttons on the input devices 108, 109 or the foot pedal 105 may also be used for Surgeon selection of viewing modes.
  • the input device 180 may be used along with a GUI associated with the display screen 140' for selection of viewing modes.
  • the viewing modes that the Surgeon and Assistant (s) see at the time may be optimized for their particular tasks at the time. Examples of such operator selectable viewing modes and viewing angles are depicted in FIGS. 12-17.
  • the method renders the computer model.
  • Rendering in this case includes adding three-dimensional qualities such as known construction features of the instruments 211, 231, 241 and the distal end of the entry guide 200 to the model, filling-in any gaps to make solid models, and providing natural coloring and shading.
  • rendering may include altering the color or intensity of one or more of the instruments 211, 231, 241 (or one or more of their joints or links or portions thereof) so that the instrument (or joint or link or portion thereof) stands out for identification purposes.
  • the altering of the color, intensity, or frequency of blinking on and off (e.g., flashing) of one or more of the instruments 211, 231, 241 (or their joints, links, or portions thereof) may serve as a warning that the instrument (or joint or link or portion thereof) is approaching an undesirable event or condition such as nearing a limit of its range of motion or getting too close to or colliding with another one of the instruments.
  • the color may go from a first color (e.g., green) to a second color ⁇ e.g., yellow) when a warning threshold of an event to be avoided (e.g., range of motion limitation or collision) is reached, and from the second color to a third color (e.g., red) when the event to be avoided is reached.
  • a warning threshold of an event to be avoided e.g., range of motion limitation or collision
  • a third color e.g., red
  • intensity when intensity is used as a warning, the intensity of the color changes as the instrument (or portion thereof) moves past the warning threshold towards the event to be avoided with a maximum intensity provided when the event is reached.
  • the frequency of blinking changes as the instrument ⁇ or portion thereof) moves past the warning threshold towards the event to be avoided with a maximum frequency provided when the event is reached.
  • the warning threshold may be based upon a range of motion of the instrument (or portion thereof, such as its joints) or upon a distance between the instrument ⁇ or portion thereof) and another instrument (or portion thereof) that it may collide with. Velocity of the instrument's movement may also be a factor in determining the warning threshold.
  • the warning threshold may be programmed by the operator, using the GUI 170, for example, or determined automatically by a programmed algorithm in the processor 102 that takes into account other factors such as the velocity of the instruments' movements.
  • an alert threshold may be defined so that the color, intensity, and/or blinking of the one or more of the instruments 211, 231, 241 (or their joints, links, or portions thereof) may change in a similar manner as described previously with respect to warning thresholds and undesirable events or conditions, except that in this case, the change starts when the alert threshold is reached and maximizes or otherwise ends when the desirable event or condition is reached or otherwise achieved.
  • the alert threshold may also be programmed by the operator or determined automatically by a programmed algorithm in a conceptually similar manner as the warning threshold.
  • FIG. 15 shows an auxiliary view of the camera 211 and surgical tools 231, 241 in a window 1502, where the camera 211 has been highlighted.
  • PIG. 12 shows joints of the surgical tools 231, 241 that have been highlighted.
  • FIG. 14 shows a portion 1402 of the surgical tool 241 and a portion 1403 of the camera 211 highlighted to indicate that these portions are dangerously close to colliding.
  • Rendering may also include overlaying the image captured by the camera 211 over the auxiliary view when the viewing point of the auxiliary image is the same as or directly behind that of the camera 211.
  • FIG. 17 illustrates a captured image 1700 of the camera 211 rendered as an overlay to an auxiliary view of surgical tools 231, 241 which has been generated from a viewing point of (or right behind) the camera 211.
  • the auxiliary view of the surgical tools 231, 241 being displayed on the auxiliary display screen 140 (and/or the auxiliary display screen 140' ) includes portions (e.g., 1731, 1741) in the overlaying captured image 1700 and portions (e.g., 1732, 1742) outside of the overlaying captured image 1700.
  • the portions of the surgical tools 231, 241 outside of the captured image 1700 provide the Surgeon with additional information about their respective links or articulating arras that are out of the field of view of the camera 211.
  • Highlighting of the instrument portions (e.g., 1732, 1742) outside of the captured image 1700 may also be done for identification purposes or to indicate a warning or alerting condition as described above. Overlaying the captured image
  • auxiliary view 1700 onto the auxiliary view also has the advantage in this case of showing an anatomic structure 360 which is in front of the surgical tools 231, 241 that would not otherwise normally be in the auxiliary view.
  • this example shows the captured image 1700 overlaying the auxiliary view on the auxiliary display screen 140, in another rendering scheme, the auxiliary view may overlay the captured image that is being displayed on the monitor 104.
  • rendering may also include using the auxiliary view to augment the image captured by the camera 211 by displaying only the portions of the instruments 231, 241 that are not seen in the captured image (i.e., the dotted line portion of the instruments 231, 241 in FIG. 17) in proper alignment and adjacent the captured image in a mosaic fashion.
  • rendering may also include providing other useful information in the auxiliary view.
  • FIG. 16 illustrates an auxiliary side view of an articulatable camera 211 with a frustum 1601 rendered on the auxiliary view so as to be displayed on the auxiliary display 140 as emanating from, and moving with, the camera tip 311.
  • the frustum 1601 is shown in the figure as a truncated cone, it may also appear as a truncated pyramid to correspond to the captured image that is shown on the monitor 104.
  • the sides of the frustum 1601 indicate a viewing range of the camera 211 and the base 1602 of the frustum 1601 displays an image 1650 that was captured by the camera 211.
  • the surgical tools 231, 241 normally in the auxiliary view have been removed for this example.
  • PIG. 14 shows a semi-translucent sphere or bubble 1401 (preferably colored red) which is displayed by the method as part of the rendering process when a warning threshold is reached so as to indicate to the operator that the highlighted portions 1402, 1403 of the surgical tool 241 and camera 211 are dangerously close to colliding.
  • the highlighted portions 1402, 1403 are preferably centered within the sphere.
  • the 14 also shows a marker or other indicator 1410 indicating an optimal position for the camera tip 311 for viewing the end effectors of the surgical tools 231, 241 as they are being used to perform a medical procedure.
  • the optimal position may be determined, for example, by finding a location where the tips of the end effectors are equidistant from a center of the captured image.
  • the method causes the rendered computer model (i.e., the auxiliary view) to be displayed on one or more displayed screens (e.g., 140 and 140') from the perspective of the selected viewing point.
  • the auxiliary view is displayed on the auxiliary display screen 140.
  • more than one auxiliary view may be displayed at one time (e.g., top and side perspectives may be provided at the same time respectively in windows 1421 and 1422) .
  • the auxiliary view may also be displayed on the primary monitor 104 in a window 1502 that is adjacent to an image captured by the articulatable camera 211 which is being shown in another window 1501.
  • the windows 1501 and 1502 appear in this example to be the same size, it is to be appreciated that the position and size of the auxiliary view window 1502 may vary and still be within the scope of the present invention.
  • the auxiliary view may be overlayed the captured image in the window 1501 instead of in its own separate window 1502.
  • the overlayed auxiliary view may be switched on and off by the Surgeon so as not to clutter the captured image during the performance of a medical procedure.
  • the switching on and off in this case may be performed by depressing a button on one of the input devices 108, 109 or depressing the foot pedal 105.
  • voice activation using the voice recognition system 160 or through Surgeon interaction with the GUI 170 or using any other conventional function switching means.
  • one or both of the input devices 108, 109 may be used to do so by temporarily associating it/them with the camera manipulator 212.
  • One way that the Surgeon may perform such repositioning is for him or her to view images on the 3-D monitor 104 that were captured by the stereoscopic camera in the camera tip 311, such as the image shown in window 1501 of FIG. 15, and use the captured images to guide his or her manipulation of the input device.
  • image referenced control This type of camera control is referred to as "image referenced control" since the Surgeon uses the image captured by the camera 211 as a reference for his or her controlling of the camera movement (i.e., the motion of the input device 108 corresponds to the motion of the camera tip 311 with respect to the captured image) .
  • image referenced control may be useful when the Surgeon is fine tuning the position and/or orientation of the camera tip 311, for larger movements problems may occur as a result of unintentional collisions between instrument links outside the field of view of the camera 211.
  • an “instrument referenced control” may be more desirable where an auxiliary image of the camera 211 and tools 231, 241 extending out of the distal end of the entry guide 200, such as shown in window 1502 of FIG. 15, may be preferable for guiding the Surgeon's manipulation of the input device ⁇ i.e., the motion of the input device 108 corresponds to the motion of the camera tip 311 with respect to the auxiliary image) .
  • FIG. 19 illustrates, as an example of instrument referenced control", a flow diagram of a method implemented in the medical robotic system 100 for positioning and orienting the tip 311 of the articulatable camera instrument 211 in response to operator manipulation of the input device 108 (in camera positioning mode) while the operator views a computer generated auxiliary view of the camera 211 on either the display screen 140 or the console monitor 104.
  • both input devices 108, 109 may be used for positioning and orienting the camera 211, such as a bicycle "handlebar" type control
  • the present example assumes that only one input device 108 (also referred to herein as the "master” or “master manipulator”) is used so that the other input device 109 may still be associated with and control its tool 231.
  • the method periodically loops back (e.g., at each processing cycle or a programmable multiple of a processing cycle) to check the current status of the switch 258. On the other hand, if the determination in 1901 is YES, then the method performs preparatory tasks 1902-1906 before enabling control over the positioning and orienting of the camera tip 311 by the input device 108 in 1907.
  • the other medical devices 241, 200 associated with the input device 108 are soft-locked so that they are commanded to remain in their present stationary state by their controllers 242, 202.
  • the method computes the reference frame which is used for control purposes (the "control reference frame") .
  • This reference frame is necessary to map between the Cartesian motion of the master 108 and the Cartesian motion of the camera tip 311.
  • the reference frame is preferably fixed in space during camera positioning mode for ease of computation.
  • a reference frame defined by the camera tip 311, such as in tool following mode is not desirable in camera positioning mode because in camera positioning mode, the camera tip 311 is moving and therefore, even though its state is determinable, its pose is not clearly perceivable by the Surgeon. Therefore, the
  • FIG. 20 illustrates a so-called "zero position" reference frame 2002 which corresponds to the position and orientation where the joints 323, 325, 327 are rotated so that the links 321, 324, 326 are in a straight line and their insertion position is a fully retracted position ⁇ i.e., the camera tip 311 is just inside the passage 321 of the entry guide 200) .
  • a reference frame defined at the camera tip i.e., the camera reference frame 2010
  • This frame has the property of being aligned with the entry guide 200 and is centered with respect to the workspace of the camera tip 311.
  • the range of motion limits (perceived by the operator through haptic feedback on the input device 108) can be used to find the center position of the camera tip 311 and the operator can easily understand how the camera instrument 211 moves in response to the motions of his or her arm/hand.
  • the kinesthetic mapping between user arm/hand and camera tip 311 is aligned to the visual mapping between the camera motion and the auxiliary view seen by the Surgeon at the console 104 and/or auxiliary display 140.
  • FIG. 21 illustrates an "isometric auxiliary view" reference frame 2102 which corresponds to a viewing point of the auxiliary view being displayed on the auxiliary display 140 (such as shown in FIG. 12) and/or monitor 104 (such as shown in window 1502 of FIG. IS) .
  • the viewing point in this case may be thought of as a view taken from the perspective of a virtual camera 2103 whose position and orientation is preferably fixed in space during the camera positioning mode.
  • the reference frame 2102 is defined at the tip (i.e., viewing end) of the virtual camera 2103 and its position and orientation are computed so that it has an azimuth angle ⁇ with respect to a focal point 2104 (of the virtual camera 2103) on the central longitudinal axis 2101 of the passage 321 of the entry guide 200 through which the camera instrument 211 extends.
  • the location of the focal point 2104 along the longitudinal axis 2101 and the size of the azimuth angle ⁇ are selected so that the virtual camera 2103 has a slight elevation that provides adequate depth perception in the isometric rendering of the auxiliary view and its field of view 2106 includes the links of the camera instrument 211 and surgical tool 231 during the camera positioning mode.
  • the orientation of a hand-grippable part of the input device 108 is aligned so that the master orientation with respect to camera captured images displayed on the 3-D monitor 104 is the same as the current orientation of the camera tip 311 with respect to the reference frame computed in 1903 for camera control.
  • this orientation alignment may be avoided by, for example, computing and accounting for the offset between the current master orientation and the current camera orientation so that the master angular motions with respect to the initial orientation are used to command the movement of the camera tip 311.
  • the camera controller (CTRLC) 213 is enabled so that the input device 108 now controls the positioning and orienting of the articulatable camera instrument 211 through the camera controller (CTRLC) 213 and manipulator (ECM) 212, and in 1908, the camera tip 311 is moved to the desired position and/or orientation.
  • CCM camera controller
  • a description of the camera controller 213 using the control reference frame is provided below in reference to FIG. 22.
  • the method performs preparatory tasks 1909-1910 before enabling control over the tool 241 by the input device 108 in 1911.
  • the camera 211 is soft-locked so that it is commanded to remain in its present stationary state (i.e., the desired position and/or orientation) by the camera controller 213, and in 1910, the master orientation is aligned with that of the tool 241.
  • FIG. 22 illustrates, as an example, a block diagram of the camera controller (CTRLC) 213 for controlling movement of the camera manipulator (ECM) 212 (also referred to herein as “slave manipulator” or “slave”) and consequently, the position and orientation of the tip 311 of the camera instrument 211, as commanded by movement of the input device 108 (also referred to herein as “master manipulator” or “master”) by the Surgeon.
  • CTRLC camera controller
  • the input device 108 includes a number of links connected by joints so as to facilitate multiple degrees-of- freedom movement. For example, as the Surgeon moves the input device 108 from one position to another, sensors associated with the joints of the input device 108 sense such movement at sampling intervals (appropriate for the processing speed of the controller 102 and camera control purposes) and provide digital information indicating such sampled movement in joint space to input processing block 2210.
  • Input processing block 2210 processes the information received from the joint sensors of the input device 108 to transform the information into a corresponding desired position and velocity for the camera tip 311 in its Cartesian space relative to a reference frame associated with the position of the Surgeon's eyes ⁇ the "eye reference frame") by computing a joint velocity from the joint position information and performing the transformation using a Jacobian matrix and eye related information using well-known transformation techniques.
  • Scale and offset processing blocks 2201 receives the processed information 2211 from the input processing block 2210 and applies scale and offset adjustments to the information so that the resulting movement of the camera tip 311 and consequently, its computer generated auxiliary view being viewed by the Surgeon at the time on the monitor 104 and/or auxiliary display 140 appears natural and as expected by the Surgeon.
  • the scale adjustment is useful where small movements of the camera tip 311 are desired relative to larger movement of the input device 108 in order to allow more precise movement of the camera tip 311 as it views the work site.
  • An offset adjustment is applied for aligning the input device 108 with respect to the Surgeon's eyes as he or she manipulates the input device 108 to command movement of the camera tip 311 through the auxiliary view that is being displayed at the time on the monitor 104 and/or auxiliary display 140.
  • a simulated camera block 2204 receives the output 2221 of the scale and offset processing block 2201 and transforms the commanded position and velocity for the camera tip 311 from the Cartesian space of the eye reference frame to the joint space of the camera manipulator 212 using its inverse kinematics while avoiding singularities in its operation and limiting the commanded joint positions and velocities to avoid physical limitations or other constraints such as avoiding harmful contact with tissue or other parts of the Patient.
  • a mapping is performed between the eye frame and the control reference frame ⁇ provided by the reference frame computation block 2250 ⁇ and another mapping is performed between a tip of the hand-grippable part of the master 108 and the camera tip 311.
  • mappings preserve orientations while offsets are compensated for in the scale and offset block 2201.
  • the inverse and forward kinematics blocks 2204, 2206 use this information to perform their computations since the mappings describe the positions and orientations of the master and camera tips with respect to the control reference frame.
  • the output 2224 of the simulated camera block 2204 is then provided to a joint controller block 2205 and a forward kinematics block 2206.
  • the joint controller block 2205 includes a joint control system for each controlled joint (or operatively coupled joints such as "joggle joints") of the camera instrument 211 (such as translational and orientational assemblies shown and described in reference to FIG. 8) .
  • the output 2224 of the simulated camera block 2204 provides the commanded value for each joint of the camera instrument 211,
  • sensors associated with each of the controlled joints of the camera instrument 211 provide sensor data 2232 back to the joint controller block 2205 indicating the current position and/or velocity of each joint of the camera instrument 211.
  • the sensors may sense this joint information either directly (e.g., from the joint on the camera instrument 211 ⁇ or indirectly (e.g., from the actuator in the camera manipulator 212 driving the joint) .
  • Each joint control system in the joint controller 2205 then generates torque commands for its respective actuator in the camera manipulator 212 so as to drive the difference between the commanded and sensed joint values to zero in a conventional feedback control system manner.
  • the forward kinematics block 2206 transforms the output 2224 of the simulated camera block 2204 from joint space back to Cartesian space relative to the eye reference frame using the forward kinematics of the camera instrument 211 with respect to the control reference frame (provided by the reference frame computation block 2250) .
  • the scale and offset block 2201 performs an inverse scale and offset function on the output 2242 of the forward kinematics block 2206 before passing its output 2212 to the input processing block 2210 where an error value is calculated between its output 2211 and input 2212. If no limitation or other constraint had been imposed on the input 2221 to the simulated camera block 2204, then the calculated error value would be zero.
  • the error value is not zero and it is converted to a torque command that drives actuators in the input device 108 to provide force feedback felt by the hands of the Surgeon.
  • the Surgeon becomes aware that a limitation or constraint is being imposed by the force that he or she feels resisting his or her movement of the input device 108 in that direction.
  • forces coming from other sensors or algorithms e.g., a force/pressure sensor or an algorithm to avoid the work volume of the surgical tools to prevent collisions may be superimposed on the force feedback.
  • An output 2241 of the forward kinematics block 2206 may also be provided to the simulated camera block 2204 for control purposes.
  • the simulated position output may be fed back and compared with the commanded position.

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • General Health & Medical Sciences (AREA)
  • Medical Informatics (AREA)
  • Animal Behavior & Ethology (AREA)
  • Biomedical Technology (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Molecular Biology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Physics & Mathematics (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Biophysics (AREA)
  • Optics & Photonics (AREA)
  • Robotics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Signal Processing (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Human Computer Interaction (AREA)
  • Pulmonology (AREA)
  • Chemical & Material Sciences (AREA)
  • Mathematical Analysis (AREA)
  • Business, Economics & Management (AREA)
  • Educational Administration (AREA)
  • Educational Technology (AREA)
  • Medicinal Chemistry (AREA)
  • Computational Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Mathematical Optimization (AREA)
  • Pure & Applied Mathematics (AREA)
  • Algebra (AREA)
  • Otolaryngology (AREA)
  • Multimedia (AREA)

Abstract

A medical robotic system includes an entry guide (200) with surgical tools (231, 241) and a camera (211) extending out of its distal end. To supplement the view provided by an image captured by the camera, an auxiliary view including articulable arms of the surgical tools and/or camera is generated from sensed or otherwise determined information about their positions and orientations and displayed on a display screen (140) from the perspective of a specified viewing point. Intuitive control is provided to an operator with respect to the auxiliary view while the operator controls the positioning and orienting of the camera.

Description

MEDICAL ROBOTIC SYSTEM PROVIDING COMPUTER GENERATED AUXILIARY VIEWS OF A CAMERA INSTRUMENT FOR CONTROLLING THE POSITIONING AND
ORIENTING OF ITS TIP
CROSS REFERENCE TO RELATED APPLICATIONS
[0001] This patent application claims benefit of the U.S. Provisional Patent Application No.61/101, 384, filed September 30, 2008 by inventors Nicola Diolaiti et al., entitled MEDICAL ROBOTIC SYSTEM PROVIDING COMPUTER GENERATED AUXILIARY VIEWS OF A CAMERA INSTRUMENT FOR CONTROLLING THE POSITIONING AND ORIENTING OF ITS TIP, and is a continυation-in-part to U.S. Applic. No. 12/163,087 filed June 27, 2008, which are incorporated herein by reference.
FIELD OF THE INVENTION
[0002] The present invention generally relates to medical robotic systems and in particular, to a medical robotic system providing computer generated auxiliary views of a camera instrument for controlling the positioning and orienting of its tip.
BACKGROUND OF THE INVENTION
[0003] Medical robotic systems such as systems used in performing minimally invasive surgical procedures offer many benefits over traditional open surgery techniques, including less pain, shorter hospital stays, quicker return to normal activities, minimal scarring, reduced recovery time, and less injury to tissue. Consequently, demand for such medical robotic systems is strong and growing.
[0004] One example of such a medical robotic system is the da Vinci* Surgical System from Intuitive Surgical, Inc., of
Sunnyvale, California, which is a minimally invasive robotic surgical system. The da Vinci* Surgical System has a number of robotic arms that move attached medical devices, such as an image capturing device and Intuitive Surgical' s proprietary EndoWrist* articulating surgical instruments, in response to movement of input devices by a surgeon viewing images captured by the image capturing device of a surgical site. Each of the medical devices is inserted through its own minimally invasive incision into the patient and positioned to perform a medical procedure at the surgical site. The incisions are placed about the patient's body so that the surgical instruments may be used to cooperatively perform the medical procedure and the image capturing device may view it without their robotic arms colliding during the procedure.
[0005] To perform certain medical procedures, it may be advantageous to use a single entry aperture, such as a minimally invasive incision or a natural body orifice, to enter a patient to perform a medical procedure. For example, an entry guide may first be inserted, positioned, and held in place in the entry aperture. Instruments such as an articulatable camera and a plurality of articulatable surgical tools, which are used to perform the medical procedure, may then be inserted into a proximal end of the entry guide so as to extend out of its distal end. Thus, the entry guide provides a single entry aperture for multiple instruments while keeping the instruments bundled together as it guides them toward the work site.
[0006] Since the entry guide generally has a relatively small diameter in order to fit through a minimally invasive incision or a natural body orifice, a number of problems may arise while teleoperating the surgical tools to perform the medical procedure and the camera to view it. For example, because the camera instrument is bundled with the surgical tools, it is limited in its positioning relative to the surgical tools and consequently, its view of the surgical tools. [0007] Thus, although the tips of the articulatable surgical tools may be kept in the field of view of the camera, links coupled by controllable joints which facilitate the articulatability of the surgical tools may not be in the field of view of the camera. As a consequence, the links of the surgical tools may inadvertently collide with each other (or with a link of the camera instrument) during the performance of a medical procedure and as a result, cause harm to the patient or otherwise adversely impact the performance of the medical procedure.
[0008] Also, since the articulatable camera instrument is generally incapable of viewing its own controllable linkage, operator movement of the camera tip is especially a concern where collisions with the surgical tool links are to be avoided. Further, when intuitive control is provided to assist the operator in teleoperatively moving the surgical tools and camera, the motions of the linkages required to produce such intuitive motions of the tips of the tools and camera may not be obvious or intuitive to the operator, thus making it even more difficult for the operator to avoid collisions between links that are outside the field of view of the camera.
OBJECTS AND SUMMARY OF THE INVENTION
[0009] Accordingly, one object of one or more aspects of the present invention is a method implemented in a medical robotic system that provides a computer generated auxiliary view of a camera for positioning and orienting the camera.
[0010] Another object of one or more aspects of the present invention is a method implemented in a medical robotic system that provides intuitive control to an operator controlling the positioning and orienting of a camera while viewing an auxiliary view of the camera.
[0011] Another object of one or more aspects of the present invention is a method implemented in a medical robotic system that improves an operator's understanding of the configuration of linkages of articulatable instruments that are outside of the field of view of a camera while controllably positioning and orienting the camera.
[0012) These and additional objects are accomplished by the various aspects of the present invention, wherein briefly stated, one aspect is a method for positioning and orienting a camera tip (i.e., the viewing or image capturing end of the camera), the method comprising: determining positions of mechanical elements used for positioning and orienting the camera tip; determining a position and orientation of the camera tip using the determined positions of the mechanical elements; generating a view of a computer model of the camera corresponding to a perspective of a virtual camera; displaying the view on a display screen; and controlling the positioning and orienting of the camera tip by moving the mechanical elements in response to manipulation of an input device so that the positioning and orienting of the camera tip intuitively appears to an operator who is manipulating the input device while viewing the display screen to correspond to the displayed view of the computer model of the camera.
[0013] Another aspect is a medical robotic system comprising a camera, mechanical elements used for positioning and orienting a tip of the camera, a display screen, an input device, and a controller. The controller is configured to determine positions of the mechanical elements, determine a position and orientation of the camera tip using the determined positions of the mechanical elements, generate a view of a computer model of the camera corresponding to a perspective of a virtual camera, display the view on the display screen, and control the positioning and orienting of the camera tip by moving the mechanical elements in response to manipulation of the input device so that the positioning and orienting of the camera tip intuitively appears to an operator who is manipulating the input device while viewing the display screen to correspond to the displayed view of the computer model of the camera.
[0014] Additional objects, features and advantages of the various aspects of the present invention will become apparent from the following description of its preferred embodiment, which description should be taken in conjunction with the accompanying drawings.
BRIEF DESCRIPTION OF THE DRAWINGS
[0015] FIG. 1 illustrates a top view of an operating room employing a medical robotic system utilizing aspects of the present invention.
[0016] FIG. 2 illustrates a block diagram of components for controlling and selectively associating device manipulators to left and right hand-manipulatable input devices in a medical robotic system utilizing aspects of the present invention.
[0017] FIGS. 3-4 respectively illustrate top and side views of an articulatable camera and a pair of articulatable surgical tools extending out of a distal end of an entry guide as used in a medical robotic system utilizing aspects of the present invention.
[0018] FIG. 5 illustrates a perspective view of an entry guide and its four degrees-of-freedom movement as used in a medical robotic system utilizing aspects of the present invention.
[0019] FIG. 6 illustrates a cross-sectional view of an entry guide with passages defined therein that extend between its proximal and distal ends as used in a medical robotic system utilizing aspects of the present invention.
[0020] FIG. 7 illustrates a block diagram of interacting components of an entry guide manipulator as used in a medical robotic system utilizing aspects of the present invention.
[0021] FIG. 8 illustrates a block diagram of interacting components of an articulatable instrument manipulator and an articulatable instrument as used in a medical robotic system utilizing aspects of the present invention. [0022] FIG. 9 illustrates a flow diagram of a method for providing a computer generated auxiliary view, utilizing aspects of the present invention.
[0023] FIG. 10 illustrates a data and processing flow diagram to determine instrument link positions and orientations using instrument joint positions and forward kinematics, as used in a medical robotic system utilizing aspects of the present invention.
10024] FIG. 11 illustrates a data and processing flow diagram to determine instrument joint positions using a sensed instrument tip position and inverse kinematics, as used in a medical robotic system utilizing aspects of the present invention.
[0025] FIGS. 12-13 respectively illustrate top and side auxiliary views as generated and displayed on a display screen by a method implemented in a medical robotic system utilizing aspects of the present invention.
10026] FIG. 14 illustrates top and side auxiliary views as generated and displayed in separate windows on a display screen by a method implemented in a medical robotic system utilizing aspects of the present invention.
[0027] FIG. 15 illustrates an auxiliary view displayed adjacent to an image captured by the articulatable camera on a monitor in a medical robotic system utilizing aspects of the present invention.
[0028] FIG. 16 illustrates an auxiliary side view of an articulatable camera having a frustum as generated and displayed by a method implemented in a medical robotic system utilizing aspects of the present invention on a display screen. [0029] FIG. 17 illustrates a combined display of an auxiliary view of a pair of articulatable surgical tools from a viewing point of a camera, along with an image captured by the camera, as generated and displayed by a method implemented in a medical robotic system utilizing aspects of the present invention on a display screen.
[0030] FIG. 18 illustrates a flow diagram of a method for providing auxiliary viewing modes that correspond to device control modes in a medical robotic system, utilizing aspects of the present invention.
[0031] FIG. 19 illustrates a flow diagram of a method for positioning and orienting a camera tip utilizing aspects of the present invention.
[0032] FIG. 20 illustrates a side view of an articulatable camera and articulatable surgical tool extending out of a distal end of an entry guide with a zero position reference frame shown relative to a computer generated auxiliary view as used in a medical robotic system utilizing aspects of the present invention.
[0033] FIG. 21 illustrates a side view of an articulatable camera and articulatable surgical tool extending out of a distal end of an entry guide with an isometric auxiliary view reference frame shown relative to a computer generated auxiliary view as used in a medical robotic system utilizing aspects of the present invention.
[0034] FIG. 22 illustrates a block diagram of a camera controller as used in a medical robotic system utilizing aspects of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT
[0035] FIG. 1 illustrates, as an example, a top view of an operating room in which a medical robotic system 100 is being utilized by a Surgeon 20 for performing a medical procedure on a Patient 40 who is lying face up on an operating table 50. One or more Assistants 30 may be positioned near the Patient 40 to assist in the procedure while the Surgeon 20 performs the procedure teleoperatively by manipulating input devices 108, 109 on a surgeon console 10.
[0036] In the present example, an entry guide (EG) 200 is inserted through a single entry aperture 150 into the Patient 40. Although the entry aperture 150 is a minimally invasive incision in the present example, in the performance of other medical procedures, it may instead be a natural body orifice. The entry guide 200 is held and manipulated by a robotic arm assembly 130.
[0037] As with other parts of the medical robotic system 100, the illustration of the robotic arm assembly 130 is simplified in FIG. 1. In one example of the medical robotic system 100, the robotic arm assembly 130 includes a setup arm and an entry guide manipulator. The setup arm is used to position the entry guide 200 at the entry aperture 150 so that it properly enters the entry aperture 150. The entry guide manipulator is then used to robotically insert and retract the entry guide 200 into and out of the entry aperture 150. It may also be used to robotically pivot the entry guide 200 in pitch, roll and yaw about a pivot point located at the entry aperture 150. An example of such an entry guide manipulator is the entry guide manipulator 202 of FIG. 2 and an example of the four degrees-of- freedom movement that it manipulates the entry guide 200 with is shown in FIG. 5. [0038] The console 10 includes a 3-D monitor 104 for displaying a 3-D image of a surgical site to the Surgeon, left and right hand-manipulatable input devices 108, 109, and a processor (also referred to herein as a ^controller") 102. The input devices 108, 109 may include any one or more of a variety of input devices such as joysticks, gloves, trigger-guns, hand- operated controllers, or the like. Other input devices that are provided to allow the Surgeon to interact with the medical robotic system 100 include a foot pedal 105, a conventional voice recognition system 160 and a Graphical User Interface (GUI) 170.
[0039] An auxiliary display screen 140 is coupled to the console 10 (and processor 102) for providing auxiliary views to the Surgeon to supplement those shown on the monitor 104. A second auxiliary display screen 140' is also coupled to the console 10 (and processor 102) for providing auxiliary views to the Assistant (S) . An input device 180 is also coupled to the console to allow the Assistant (s) to select between available auxiliary views for display on the second auxiliary display screen 140' .
[0040] The console 10 is usually located in the same room as the Patient so that the Surgeon may directly monitor the procedure, is physically available if necessary, and is able to speak to the Assistant (s) directly rather than over the telephone or other communication medium. However, it will be understood that the Surgeon can also be located in a different room, a completely different building, or other remote location from the Patient allowing for remote surgical procedures. In such a case, the console 10 may be connected to the second auxiliary display screen 140' and input device 180 through a network connection such as a local area network, wide area network, or the Internet. [0041] As shown in FIGS. 3-4, the entry guide 200 has articulatable instruments such as articulatable surgical tools 231, 241 and an articulatable stereo camera 211 extending out of its distal end. Although only two tools 231, 241 are shown, the entry guide 200 may guide additional tools as required for performing a medical procedure at a work site in the Patient. For example, as shown in PIG. 4, a passage 351 is available for extending another articulatable surgical tool through the entry guide 200 and out through its distal end. Each of the surgical tools 231, 241 is associated with one of the input devices 108, 109 in a tool following mode. The Surgeon performs a medical procedure by manipulating the input devices 108, 109 so that the controller 102 causes corresponding movement of their respectively associated surgical tools 231, 241 while the Surgeon views the work site in 3-D on the console monitor 104 as images of the work site are being captured by the articulatable camera 211.
[0042] Preferably, input devices 108, 109 will be provided with at least the same degrees of freedom as their associated tools 231, 241 to provide the Surgeon with telepresence, or the perception that the input devices 108, 109 are integral with the tools 231, 241 so that the Surgeon has a strong sense of directly controlling the tools 231, 241. To this end, the monitor 104 is also positioned near the Surgeon's hands so that it will display a projected image that is oriented so that the Surgeon feels that he or she is actually looking directly down onto the work site and images of the tools 231, 241 appear to be located substantially where the Surgeon's hands are located.
[0043] In addition, the real-time image on the monitor 104 is preferably projected into a perspective image such that the
Surgeon can manipulate the end effectors 331, 341 of the tools 231, 241 through their corresponding input devices 108, 109 as if viewing the work site in substantially true presence. By true presence, it is meant that the presentation of an image is a true perspective image simulating the viewpoint of an operator that is physically manipulating the end effectors 331, 341. Thus, the processor 102 may transform the coordinates of the end effectors 331, 341 to a perceived position so that the perspective image being shown on the monitor 104 is the image that the Surgeon would see if the Surgeon was located directly behind the end effectors 331, 341.
[0044J The processor 102 performs various functions in the system 100. One important function that it performs is to translate and transfer the mechanical motion of input devices 108, 109 through control signals over bus 110 so that the Surgeon can effectively manipulate devices, such as the tools 231, 241, camera 211, and entry guide 200, that are selectively associated with the input devices 108, 109 at the time. Another function is to perform various methods and controller functions described herein.
[0045] Although described as a processor, it is to be appreciated that the processor 102 may be implemented in practice by any combination of hardware, software and firmware. Also, its functions as described herein may be performed by one unit or divided up among different components, each of which may be implemented in turn by any combination of hardware, software and firmware. Further, although being shown as part of or being physically adjacent to the console 10, the processor 102 may also comprise a number of subunits distributed throughout the system.
[0046] For additional details on the construction and operation of various aspects of a medical robotic system such as described herein, see, e.g., U.S. Pat. No. 6,493,608 "Aspects of a Control System of a Minimally Invasive Surgical Apparatus," and U.S. Pat. No. 6,671,581 "Camera Referenced Control in a Minimally Invasive Surgical Apparatus," which are incorporated herein by reference.
[0047] FIG. 2 illustrates, as an example, a block diagram of components for controlling and selectively associating device manipulators to the input devices 108, 109. Various surgical tools such as graspers, cutters, and needles may be used to perform a medical procedure at a work site within the Patient. In this example, two surgical tools 231, 241 are used to roboticalIy perform the procedure and the camera 211 is used to view the procedure. The tools 231, 241 and camera 211 are inserted through passages in the entry guide 200. As described in reference to FIG. 1, the entry guide 200 is inserted into the Patient through entry aperture 150 using the setup portion of the robotic arm assembly 130 and maneuvered by the entry guide manipulator (EGM) 202 of the robotic arm assembly 130 towards the work site where the medical procedure is to be performed.
[0043] Each of the devices 231, 241, 211, 200 is manipulated by its own manipulator. In particular, the camera 211 is manipulated by a camera manipulator (ECM) 212, the first surgical tool 231 is manipulated by a first tool manipulator (PSMl) 232, the second surgical tool 241 is manipulated by a second tool manipulator (PSM2) 242, and the entry guide 200 is manipulated by an entry guide manipulator (EGM) 202. So as to not overly encumber the figure, the devices 231, 241, 211, 200 are not shown, only their respective manipulators 232, 242, 212, 202 are shown in the figure.
[0049] Each of the instrument manipulators 232, 242, 212 is a mechanical assembly that carries actuators and provides a mechanical, sterile interface to transmit motion to its respective articulatable instrument. Each instrument 231, 241, 211 is a mechanical assembly that receives the motion from its manipulator and, by means of a cable transmission, propagates the motion to its distal articulations (e.g., joints) . Such joints may be prismatic (e.g., linear motion) or rotational (e.g., they pivot about a mechanical axis). Furthermore, the instrument may have internal mechanical constraints (e.g., cables, gearing, cams, belts, etc.) that force multiple joints to move together in a pre-determined fashion. Each set of mechanically constrained joints implements a specific axis of motion, and constraints may be devised to pair rotational joints (e.g., joggle joints). Note also that in this way the instrument may have more joints than the available actuators.
10050] In contrast, the entry guide manipulator 202 has a different construction and operation. A description of the parts and operation of the entry guide manipulator 202 is described below in reference to FIG. 7.
{0051) In this example, each of the input devices 108, 109 may be selectively associated with one of the devices 211, 231, 241, 200 so that the associated device may be controlled by the input device through its controller and manipulator. For example, by placing switches 258, 259 respectively in tool following modes "T2" and "T1", the left and right input devices 108, 109 may be respectively associated with the first and second surgical tools 231, 241, which are telerobotically controlled through their respective controllers 233, 243 (preferably implemented in the processor 102) and manipulators 232, 242 so that the Surgeon may perform a medical procedure on the Patient while the entry guide 200 is locked in place.
[0052] When the camera 211 or the entry guide 200 is to be repositioned by the Surgeon, either one or both of the left and right input devices 108, 109 may be associated with the camera 211 or entry guide 200 so that the Surgeon may move the camera 211 or entry guide 200 through its respective controller (213 or 203) and manipulator (212 or 202) . In this case, the disassociated one{s) of the surgical tools 231, 241 is locked in place relative to the entry guide 200 by its controller. For example, by placing switches 258, 259 respectively in camera positioning modes "C2" and "C1", the left and right input devices 108, 109 may be associated with the camera 211, which is telerobotically controlled through its controller 213 (preferably implemented in the processor 102) and manipulator 212 so that the Surgeon may position the camera 211 while the surgical tools 231, 241 and entry guide 200 are locked in place by their respective controllers 233, 243, 203. If only one input device is to be used for positioning the camera, then only one of the switches 258, 259 is placed in its camera positioning mode while the other one of the switches 258, 259 remains in its tool following mode so that its respective input device may continue to control its associated surgical tool.
[0053] On the other hand, by placing switches 258, 259 respectively in entry guide positioning modes "G2" and "Gl", the left and right input devices 108, 109 may be associated with the entry guide 200, which is telerobotically controlled through its controller 203 {preferably implemented in the processor 102) and manipulator 202 so that the Surgeon may position the entry guide 200 while the surgical tools 231, 241 and camera 211 are locked in place relative to the entry guide 200 by their respective controllers 233, 243, 213. As with the camera positioning mode, if only one input device is to be used for positioning the entry guide, then only one of the switches 258, 259 is placed in its entry guide positioning mode while the other one of the switches 258, 259 remains in its tool following mode so that its respective input device may continue to control its associated surgical tool.
[0054] The selective association of the input devices 108, 109 to other devices in this example may be performed by the Surgeon using the GUI 170 or the voice recognition system 160 in a conventional manner. Alternatively, the association of the input devices 108, 109 may be changed by the Surgeon depressing a button on one of the input devices 108, 109 or depressing the foot pedal 105, or using any other well known mode switching technique.
[0055] FIGS. 3-4 respectively illustrate, as examples, top and right side views of a distal end of the entry guide 200 with the camera 211 and surgical tools 231, 241 extending outward. As shown in a perspective view of a simplified (not to scale) entry guide 200 in FIG. 5, the entry guide 200 is generally cylindrical in shape and has a longitudinal axis X' running centrally along its length. The pivot point, which is also referred to as a remote center "RC", serves as an origin for both a fixed reference frame having X, Y and Z axes as shown and an entry guide reference frame having X' , Y' and Z' axes as shown. When the system 100 is in the entry guide positioning mode, the entry guide manipulator 202 is capable of pivoting the entry guide 200 in response to movement of one or more associated input devices about the Z axis (which remains fixed in space) at the remote center "RC" in yaw ψ. In addition, the entry guide manipulator 202 is capable of pivoting the entry guide 200 in response to movement of the one or more input devices about the Y' axis (which is orthogonal to the longitudinal axis Xf of the entry guide 200} in pitch θ, capable of rotating the entry guide 200 about its longitudinal axis X' in roll Φ, and linearly moving the entry guide 200 along its longitudinal axis Xf in insertion/retraction or in/out "I/O" directions in response to movement of the one or more associated input devices. Note that unlike the Z-axis which is fixed in space, the X' and Y' axes move with the entry guide 200.
[0056] As shown in FIG. 7, the entry guide manipulator (EGM) 202 has four actuators 701-704 for actuating the four degrees- of-freedom movement of the entry guide 200 (i.e., pitch θ, yaw ψ, roll Φ, and in/out I/O) and four corresponding assemblies 711-714 to implement them.
[0057] Referring back to FIGS. 3-4, the articulatable camera 211 extends through passage 321 and the articulatable surgical tools 231, 241 respectively extend through passages 431, 441 of the entry guide 200. The camera 211 includes a tip 311 (which houses a stereo camera connected to a camera controller and a fiber-optic cable connected to an external light source) , first, second, and third links 322, 324, 326, first and second joint assemblies {also referred to herein simply as "joints") 323, 325, and a wrist assembly 327. The first joint assembly 323 couples the first and second links 322, 324 and the second joint assembly 325 couples the second and third links 324, 326 so that the second link 324 may pivot about the first joint assembly 323 in pitch and yaw while the first and third links 322, 326 remain parallel to each other.
[0053] The first and second joints 323, 325 are referred to as "joggle joints", because they cooperatively operate together so that as the second link 324 pivots about the first joint 323 in pitch and/or yaw, the third link 326 pivots about the second joint 325 in a complementary fashion so that the first and third links 322, 326 always remain parallel to each other. The first link 322 may also rotate around its longitudinal axis in roll as well as move in and out (e.g., insertion towards the work site and retraction from the worksite) through the passage 321. The wrist assembly 327 also has pitch and yaw angular movement capability so that the camera's tip 311 may be oriented up or down and to the right or left, and combinations thereof.
[0059] The joints and links of the tools 231, 241 are similar in construction and operation to those of the camera 211. In particular, the tool 231 includes an end effector 331 (having jaws 338, 339), first, second, and third links 332, 334, 336, first and second joint assemblies 333, 335, and a wrist assembly 337 that are driven by actuators such as described in reference to PIG. 8 {plus an additional actuator for actuating the end effector 331) . Likewise, the tool 241 includes an end effector 341 (having jaws 348, 349) , first, second, and third links 342, 344, 346, first and second joint assemblies 343,345, and a wrist assembly 347 that are also driven by actuators such as described in reference to FIG. 8 (plus an additional actuator for actuating the end effector 341) .
[0060] FIG. 8 illustrates, as an example, a diagram of interacting parts of an articulatable instrument (such as the articulatable camera 211 and the articulatable surgical tools 231, 241) and its corresponding instrument manipulator {such as the camera manipulator 212 and the tool manipulators 232, 242} . Each of the instruments includes a number of actuatable assemblies 821-823, 831-833, 870 for effectuating articulation of the instrument {including its end effector), and its corresponding manipulator includes a number of actuators 801- 803, 811-813, 860 for actuating the actuatable assemblies.
[0061] In addition, a number of interface mechanisms may also be provided. For example, pitch/yaw coupling mechanisms 840, 850 {respectively for the joggle joint pitch/yaw and the wrist pitch/yaw) and gear ratios 845, 855 (respectively for the instrument roll and the end effector actuation) are provided in a sterile manipulator/instrument interface to achieve the required range of motion of the instrument joints in instrument joint space while both satisfying compactness constraints in the manipulator actuator space and preserving accurate transmissions of motion across the interface. Although shown as a single block 840, the coupling between the joggle joint actuators 801, 802 (differentiated as #1 and #2) and joggle joint pitch/yaw assemblies 821, 822 may include a pair of coupling mechanisms - one on each side of the sterile interface {i.e., one on the manipulator side of the interface and one on the instrument side of the interface) . Likewise, although shown as a single block 850, the coupling between the wrist actuators 812, 813 (differentiated as #1 and #2) and wrist pitch/yaw joint assemblies 832, 833 may also comprise a pair of coupling mechanisms - one on each side of the sterile interface.
[0062] Both the joggle joint pitch assembly 821 and the joggle joint yaw assembly 822 share the first, second and third links (e.g., links 322, 324, 326 of the articulatable camera 211) and the first and second joints (e.g., joints 322, 325 of the articulatable camera 211) . In addition to these shared components, the joggle joint pitch and yaw assemblies 821, 822 also include mechanical couplings that couple the first and second joints (through joggle coupling 840) to the joggle joint pitch and yaw actuators 801, 802 so that the second link may control lably pivot about a line passing through the first joint and along an axis that is latitudinal to the longitudinal axis of the first link (e.g., link 322 of the articulatable camera 211) and the second link may controllably pivot about a line passing through the first joint and along an axis that is orthogonal to both the latitudinal and longitudinal axes of the first link.
[0063] The in/out (I/O) assembly 823 includes the first link (e.g., link 322 of the articulatable camera 211) and interfaces through a drive train coupling the in/out (I/O) actuator 803 to the first link so that the first link is controllably moved linearly along its longitudinal axis by actuation of the I/O actuator 803. The roll assembly 831 includes the first link and interfaces through one or more gears (i.e., having the gear ratio 845) that couple a rotating element of the roll actuator 811 (such as a rotor of a motor) to the first link so that the first link is controllably rotated about its longitudinal axis by actuation of the roll actuator 811, [0064] The instrument manipulator {e.g., camera manipulator 212) includes wrist actuators 812, 813 that actuate through wrist coupling 850 pitch and yaw joints 832, 833 of the wrist assembly (e.g., wrist 327 of the articulatable camera 211) so as to cause the instrument tip (e.g., camera tip 311) to controllably pivot in an up-down (i.e., pitch) and side-to-side (i.e., yaw) directions relative to the wrist assembly. The grip assembly 870 includes the end effector (e.g., end effector 331 of the surgical tool 231) and interfaces through one or more gears (i.e., having the gear ratio 855) that couple the grip actuator 860 to the end effector so as to controllably actuate the end effector.
[0065] FIG. 9 illustrates, as an example, a flow diagram of a method implemented in controller 102 of the medical robotic system 100 for providing a computer generated auxiliary view including articulatable instruments, such as the articulatable camera 211 and/or one or more of the articulatable surgical tools 231, 241, extending out of the distal end of the entry guide 200. For the purposes of this example, it is assumed that the articulatable camera 211 and surgical tools 231, 241 extend out of the distal end of the entry guide 200 and are included in the auxiliary view. However, it is to be appreciated that the method is applicable to any combination of articulatable instruments, including those without an articulatable camera and/or those with an alternative type of image capturing device such as an ultrasound probe.
[0066] In 901, the method determines whether or not an auxiliary view is to be generated. If the determination in 901 is NO, then the method loops back to periodically check to see whether the situation has changed. On the other hand, if the determination in 901 is YES, then the method proceeds to 902. The indication that an auxiliary view is to be generated may be programmed into the controller 102, created automatically or created by operator command.
[0067] in 902, the method receives state information, such as positions and orientations, for each of the instruments 211, 231, 241 and the entry guide 200. This information may be provided by encoders coupled to the actuators in their respective manipulators 212, 232, 242, 202. Alternatively, the information may be provided by sensors coupled to joints and/or links of the instruments 211, 231, 241 and the entry guide manipulator 202, or the coupling mechanisms, gears and drive trains of the interface between corresponding manipulators and instruments, so as to measure their movement. In this second case, the sensors may be included in the instruments 211, 231, 241 and entry guide manipulator 202 such as rotation sensors that sense rotational movement of rotary joints and linear sensors that sense linear movement of prismatic joints in the instruments 211, 231, 241 and entry guide manipulator 202. Other sensors may also be used for providing information of the positions and orientations of the instruments 211, 231, 241 and entry guide 200 such as external sensors that sense and track trackable elements, which may be active elements (e.g., radio frequency, electromagnetic, etc.) or passive elements (e.g., magnetic, etc.), placed at strategic points on the instruments 211, 231, 241, the entry guide 200 and/or the entry guide manipulator 202 (such as on their joints, links and/or tips) ♦
[0068] In 903, the method generates a three-dimensional computer model of the articulatable camera 211 and articulatable surgical tools 231, 241 extending out of the distal end of the entry guide 200 using the information received in 902 and the forward kinematics and known constructions of the instruments
211, 231, 241, entry guide 200, and entry guide manipulator 202. The generated computer model in this example may be referenced to the remote center reference frame {X, Y, Z axes) depicted in FIG. 5. Alternatively, the generated computer model may be referenced to a reference frame defined at the distal end of the entry guide 200. In this latter case, if the orientation and extension of the entry guide 200 from the remote center does not have to be accounted for in the auxiliary view that is being generated by the method, then the position and orientation information for the entry guide 200 may be omitted in 902.
[0069] For example, referring to FIG. 10, if the state information received in 902 is the instruments' joint positions 1001, then this information may be applied to the instruments' forward kinematics 1002 using the instruments' kinematic models 1003 to generate the instruments' link positions and orientations 1005 relative to reference frame 1004. The same process may also be generally applied if the state information received in 902 is sensed states of the joggle coupling and gear mechanisms in the manipulator/instrument interfaces.
[0070] On the other hand, referring to FIG. 11, if the state information received in 902 is the instruments' tip positions 1101 {in the reference frame 1004} , then this information may be applied to the instruments' inverse kinematics 1102 using the instruments' kinematic models 1003 and the sensor reference frame to generate the instruments' joint positions 1001. The instruments' joint positions 1001 may then be applied as described in reference to FIG. 10 to generate the instruments' link positions and orientations 1005 relative to reference frame 1004.
[0071] Alternatively, also referring to FIG. 11, if the state information provided in 902 is limited to only the camera's tip position, then the positions of the tips of the surgical tools 231, 241 may be determined relative to the camera reference frame by identifying the tips in the image captured by the camera 211 using conventional image processing techniques and then translating their positions to the reference frame 1004, so that the positions of the camera and tool tips may be applied as described in reference to FIGS. 10, 11 to generate the instruments' link positions and orientations 1005 relative to the reference frame 1004.
[0072] In 904, the method adjusts the view of the computer model of the articulatable camera 211 and articulatable surgical tools 231, 241 extending out of the distal end of the entry guide 200 in the three-dimensional space of the reference frame to a specified viewing point (wherein the term "viewing point" is to be understood herein to include position and orientation) . For example, FIG. 12 illustrates a top view of the articulatable camera 211 and articulatable surgical tools 231, 241 extending out of the distal end of the entry guide 200 which corresponds to a viewing point above and slightly behind the distal end of the entry guide 200. As another example, FIG. 13 illustrates a side view of the articulatable camera 211 and articulatable surgical tools 231, 241 extending out of the distal end of the entry guide 200 which corresponds to a viewing point to the right and slightly in front of the distal end of the entry guide 200. Note that although the auxiliary views depicted in FIGS. 12-13 are two-dimensional, they may also be three-dimensional views since three-dimensional information is available from the generated computer model. In this latter case, the auxiliary display screen 140 that they are being displayed on would have to be a three-dimensional display screen like the monitor 104.
[0073] The viewing point may be set at a fixed point such as one providing an isometric (three-dimensional) view from the perspective shown in FIG. 12. This perspective provides a clear view to the surgeon of the articulatable camera 211 and the articulatable surgical tools 231, 241 when the tools 231, 241 are bent "elbows out" as shown (which is a typical configuration for performing a medical procedure using the surgical tools 231, 241) . On the other hand, when a third surgical tool is being used (e.g., inserted in the passage 351 shown in FIG. 6), a side view from the perspective of FIG. 13 may additionally be useful since the third surgical tool may be beneath the articulatable camera 211 and therefore obscured by it in the perspective shown in FIG. 12.
[0074] Rather than setting the viewing point to a fixed point at all times, the viewing point may also be automatically changed depending upon the control mode (i.e., one of the modes described in reference to FIG. 2) that is operative at the time. As an example, FIG. 18 illustrates a method for automatically changing the auxiliary viewing mode depending upon the control mode currently operative in the medical robotic system 100. In particular, using this method, a first auxiliary viewing mode is performed in 1802 when the medical robotic system 100 is determined in 1801 to be in a tool following mode, a second auxiliary viewing mode is performed in 1804 when the medical robotic system 100 is determined in 1803 to be in an entry guide positioning mode, and a third auxiliary viewing mode is performed in 1806 when the medical robotic system 100 is determined in 1805 to be in a camera positioning mode. The viewing modes for each control mode are selected so as to be most beneficial to the surgeon for performing actions during that mode. For example, in the tool following and camera positioning modes, either or both the surgical tools 231, 241 and camera 211 is being moved at the time and therefore, an auxiliary view of the articulatable camera 211 and articulatable surgical tools 231, 241 extending out of the distal end of the entry guide 200, such as depicted in FIGS. 12 and 13, is useful to avoid collisions between links that are out of the field of view of the camera 211. On the other hand, in the entry guide positioning mode, the articulatable camera 211 and the articulatable surgical tools 231, 241 are locked in position relative to the entry guide 200 and therefore, an auxiliary view providing information on other things such as depicted in FIGS. 16 and 17 may be useful.
[0075] Alternatively, operator selectable means for changing the viewing point during the performance of a medical procedure may be provided. For example, the GUI 170 or voice recognition system 160 may be adapted to provide an interactive means for the Surgeon to select the viewing mode and/or change the viewing point of an auxiliary view of the articulatable camera 211 and/or articulatable surgical tools 231, 241 as they extend out of the distal end of the entry guide 200. Buttons on the input devices 108, 109 or the foot pedal 105 may also be used for Surgeon selection of viewing modes. For the Assistant (s) , the input device 180 may be used along with a GUI associated with the display screen 140' for selection of viewing modes. Thus, the viewing modes that the Surgeon and Assistant (s) see at the time may be optimized for their particular tasks at the time. Examples of such operator selectable viewing modes and viewing angles are depicted in FIGS. 12-17.
[0076] In 905, the method renders the computer model. Rendering in this case includes adding three-dimensional qualities such as known construction features of the instruments 211, 231, 241 and the distal end of the entry guide 200 to the model, filling-in any gaps to make solid models, and providing natural coloring and shading. In addition, rendering may include altering the color or intensity of one or more of the instruments 211, 231, 241 (or one or more of their joints or links or portions thereof) so that the instrument (or joint or link or portion thereof) stands out for identification purposes.
[0077] Alternatively, the altering of the color, intensity, or frequency of blinking on and off (e.g., flashing) of one or more of the instruments 211, 231, 241 (or their joints, links, or portions thereof) may serve as a warning that the instrument (or joint or link or portion thereof) is approaching an undesirable event or condition such as nearing a limit of its range of motion or getting too close to or colliding with another one of the instruments. When color is used as a warning, the color may go from a first color (e.g., green) to a second color {e.g., yellow) when a warning threshold of an event to be avoided (e.g., range of motion limitation or collision) is reached, and from the second color to a third color (e.g., red) when the event to be avoided is reached. When intensity is used as a warning, the intensity of the color changes as the instrument (or portion thereof) moves past the warning threshold towards the event to be avoided with a maximum intensity provided when the event is reached. When blinking of the color is used as a warning, the frequency of blinking changes as the instrument {or portion thereof) moves past the warning threshold towards the event to be avoided with a maximum frequency provided when the event is reached. The warning threshold may be based upon a range of motion of the instrument (or portion thereof, such as its joints) or upon a distance between the instrument {or portion thereof) and another instrument (or portion thereof) that it may collide with. Velocity of the instrument's movement may also be a factor in determining the warning threshold. The warning threshold may be programmed by the operator, using the GUI 170, for example, or determined automatically by a programmed algorithm in the processor 102 that takes into account other factors such as the velocity of the instruments' movements.
[0078] Alternatively, the altering of the color, intensity, or frequency of blinking on and off (e.g., flashing) of one or more of the instruments 211, 231, 241 (or their joints, links, or portions thereof) may serve as an alert that the instrument (or joint or link or portion thereof) is approaching a desirable event or condition such as an optimal position or configuration for performing or viewing a medical procedure In this case, an alert threshold may be defined so that the color, intensity, and/or blinking of the one or more of the instruments 211, 231, 241 (or their joints, links, or portions thereof) may change in a similar manner as described previously with respect to warning thresholds and undesirable events or conditions, except that in this case, the change starts when the alert threshold is reached and maximizes or otherwise ends when the desirable event or condition is reached or otherwise achieved. The alert threshold may also be programmed by the operator or determined automatically by a programmed algorithm in a conceptually similar manner as the warning threshold.
[0079] As an example of such highlighting of an instrument for identification, warning or alerting purposes, FIG. 15 shows an auxiliary view of the camera 211 and surgical tools 231, 241 in a window 1502, where the camera 211 has been highlighted. As an example of such highlighting of joints of instruments for identification, warning or alerting purposes, PIG. 12 shows joints of the surgical tools 231, 241 that have been highlighted. As an example of highlighting portions of instruments for warning purposes, FIG. 14 shows a portion 1402 of the surgical tool 241 and a portion 1403 of the camera 211 highlighted to indicate that these portions are dangerously close to colliding.
[0080] Rendering may also include overlaying the image captured by the camera 211 over the auxiliary view when the viewing point of the auxiliary image is the same as or directly behind that of the camera 211. As an example, FIG. 17 illustrates a captured image 1700 of the camera 211 rendered as an overlay to an auxiliary view of surgical tools 231, 241 which has been generated from a viewing point of (or right behind) the camera 211. In this example, the auxiliary view of the surgical tools 231, 241 being displayed on the auxiliary display screen 140 (and/or the auxiliary display screen 140' ) includes portions (e.g., 1731, 1741) in the overlaying captured image 1700 and portions (e.g., 1732, 1742) outside of the overlaying captured image 1700. Thus, the portions of the surgical tools 231, 241 outside of the captured image 1700 provide the Surgeon with additional information about their respective links or articulating arras that are out of the field of view of the camera 211. Highlighting of the instrument portions (e.g., 1732, 1742) outside of the captured image 1700 may also be done for identification purposes or to indicate a warning or alerting condition as described above. Overlaying the captured image
1700 onto the auxiliary view also has the advantage in this case of showing an anatomic structure 360 which is in front of the surgical tools 231, 241 that would not otherwise normally be in the auxiliary view. Although this example shows the captured image 1700 overlaying the auxiliary view on the auxiliary display screen 140, in another rendering scheme, the auxiliary view may overlay the captured image that is being displayed on the monitor 104.
[0081] Rather than overlaying the captured image, rendering may also include using the auxiliary view to augment the image captured by the camera 211 by displaying only the portions of the instruments 231, 241 that are not seen in the captured image (i.e., the dotted line portion of the instruments 231, 241 in FIG. 17) in proper alignment and adjacent the captured image in a mosaic fashion.
[0082] In addition to, or in lieu of, overlaying the captured image over the auxiliary view or augmenting the captured image with the auxiliary view, rendering may also include providing other useful information in the auxiliary view. As an example, FIG. 16 illustrates an auxiliary side view of an articulatable camera 211 with a frustum 1601 rendered on the auxiliary view so as to be displayed on the auxiliary display 140 as emanating from, and moving with, the camera tip 311. Note that although the frustum 1601 is shown in the figure as a truncated cone, it may also appear as a truncated pyramid to correspond to the captured image that is shown on the monitor 104. The sides of the frustum 1601 indicate a viewing range of the camera 211 and the base 1602 of the frustum 1601 displays an image 1650 that was captured by the camera 211. Note that for simplification purposes, the surgical tools 231, 241 normally in the auxiliary view have been removed for this example. As another example, PIG. 14 shows a semi-translucent sphere or bubble 1401 (preferably colored red) which is displayed by the method as part of the rendering process when a warning threshold is reached so as to indicate to the operator that the highlighted portions 1402, 1403 of the surgical tool 241 and camera 211 are dangerously close to colliding. In this case, the highlighted portions 1402, 1403 are preferably centered within the sphere. As yet another example, FIG. 14 also shows a marker or other indicator 1410 indicating an optimal position for the camera tip 311 for viewing the end effectors of the surgical tools 231, 241 as they are being used to perform a medical procedure. The optimal position may be determined, for example, by finding a location where the tips of the end effectors are equidistant from a center of the captured image.
[0033] In 906, the method causes the rendered computer model (i.e., the auxiliary view) to be displayed on one or more displayed screens (e.g., 140 and 140') from the perspective of the selected viewing point. As shown in FIGS. 12-14 and 16-17, the auxiliary view is displayed on the auxiliary display screen 140. As shown in FIG. 14, more than one auxiliary view may be displayed at one time (e.g., top and side perspectives may be provided at the same time respectively in windows 1421 and 1422) . As shown in FIG. 15, the auxiliary view may also be displayed on the primary monitor 104 in a window 1502 that is adjacent to an image captured by the articulatable camera 211 which is being shown in another window 1501. Although the windows 1501 and 1502 appear in this example to be the same size, it is to be appreciated that the position and size of the auxiliary view window 1502 may vary and still be within the scope of the present invention. Also, as previously mentioned, the auxiliary view may be overlayed the captured image in the window 1501 instead of in its own separate window 1502. In such case, the overlayed auxiliary view may be switched on and off by the Surgeon so as not to clutter the captured image during the performance of a medical procedure. The switching on and off in this case may be performed by depressing a button on one of the input devices 108, 109 or depressing the foot pedal 105. Alternatively, it may be done by voice activation using the voice recognition system 160 or through Surgeon interaction with the GUI 170 or using any other conventional function switching means.
[0084] After completing 906, the method then loops back to 901 to repeat 901-906 for the next processing cycle of the controller 102.
[0035] When the Surgeon desires to reposition the camera tip 311 to a more advantageous position and/or orientation to view a medical procedure being or to be performed at a work site in the Patient, one or both of the input devices 108, 109 may be used to do so by temporarily associating it/them with the camera manipulator 212. One way that the Surgeon may perform such repositioning is for him or her to view images on the 3-D monitor 104 that were captured by the stereoscopic camera in the camera tip 311, such as the image shown in window 1501 of FIG. 15, and use the captured images to guide his or her manipulation of the input device. This type of camera control is referred to as "image referenced control" since the Surgeon uses the image captured by the camera 211 as a reference for his or her controlling of the camera movement (i.e., the motion of the input device 108 corresponds to the motion of the camera tip 311 with respect to the captured image) . Although image referenced control may be useful when the Surgeon is fine tuning the position and/or orientation of the camera tip 311, for larger movements problems may occur as a result of unintentional collisions between instrument links outside the field of view of the camera 211. In this latter case, an "instrument referenced control" may be more desirable where an auxiliary image of the camera 211 and tools 231, 241 extending out of the distal end of the entry guide 200, such as shown in window 1502 of FIG. 15, may be preferable for guiding the Surgeon's manipulation of the input device {i.e., the motion of the input device 108 corresponds to the motion of the camera tip 311 with respect to the auxiliary image) .
10086] FIG. 19 illustrates, as an example of instrument referenced control", a flow diagram of a method implemented in the medical robotic system 100 for positioning and orienting the tip 311 of the articulatable camera instrument 211 in response to operator manipulation of the input device 108 (in camera positioning mode) while the operator views a computer generated auxiliary view of the camera 211 on either the display screen 140 or the console monitor 104. Although both input devices 108, 109 may be used for positioning and orienting the camera 211, such as a bicycle "handlebar" type control, the present example assumes that only one input device 108 (also referred to herein as the "master" or "master manipulator") is used so that the other input device 109 may still be associated with and control its tool 231.
[0087] In 1901, a determination is made whether the medical robotic system is in camera positioning mode. As previously described in reference to FIG. 2, this may be determined for the left input device 108 by checking the state of its switch 258. If the switch 258 is in the "C2" position, then the input device 108 is in camera positioning mode. Otherwise, the input device 108 is not in camera positioning mode.
[0088] If the determination in 1901 is NO, then the method periodically loops back (e.g., at each processing cycle or a programmable multiple of a processing cycle) to check the current status of the switch 258. On the other hand, if the determination in 1901 is YES, then the method performs preparatory tasks 1902-1906 before enabling control over the positioning and orienting of the camera tip 311 by the input device 108 in 1907.
[0089] In 1902, the other medical devices 241, 200 associated with the input device 108 are soft-locked so that they are commanded to remain in their present stationary state by their controllers 242, 202.
[0090] In 1903, the method computes the reference frame which is used for control purposes (the "control reference frame") . This reference frame is necessary to map between the Cartesian motion of the master 108 and the Cartesian motion of the camera tip 311. The reference frame is preferably fixed in space during camera positioning mode for ease of computation. Thus, a reference frame defined by the camera tip 311, such as in tool following mode, is not desirable in camera positioning mode because in camera positioning mode, the camera tip 311 is moving and therefore, even though its state is determinable, its pose is not clearly perceivable by the Surgeon. Therefore, the
Surgeon may find it more difficult in this situation to position the camera tip 311 at the desired location with respect to the Patient's anatomy using the master 108.
{0091] As one possible reference frame that may be used, FIG. 20 illustrates a so-called "zero position" reference frame 2002 which corresponds to the position and orientation where the joints 323, 325, 327 are rotated so that the links 321, 324, 326 are in a straight line and their insertion position is a fully retracted position {i.e., the camera tip 311 is just inside the passage 321 of the entry guide 200) . In this position, a reference frame defined at the camera tip (i.e., the camera reference frame 2010) coincides with the "zero position" reference frame 2002. This frame has the property of being aligned with the entry guide 200 and is centered with respect to the workspace of the camera tip 311. Therefore, the range of motion limits (perceived by the operator through haptic feedback on the input device 108) can be used to find the center position of the camera tip 311 and the operator can easily understand how the camera instrument 211 moves in response to the motions of his or her arm/hand. In other words, the kinesthetic mapping between user arm/hand and camera tip 311 is aligned to the visual mapping between the camera motion and the auxiliary view seen by the Surgeon at the console 104 and/or auxiliary display 140.
[0092] As another possible reference frame that may be used, FIG. 21 illustrates an "isometric auxiliary view" reference frame 2102 which corresponds to a viewing point of the auxiliary view being displayed on the auxiliary display 140 (such as shown in FIG. 12) and/or monitor 104 (such as shown in window 1502 of FIG. IS) . The viewing point in this case may be thought of as a view taken from the perspective of a virtual camera 2103 whose position and orientation is preferably fixed in space during the camera positioning mode. The reference frame 2102 is defined at the tip (i.e., viewing end) of the virtual camera 2103 and its position and orientation are computed so that it has an azimuth angle α with respect to a focal point 2104 (of the virtual camera 2103) on the central longitudinal axis 2101 of the passage 321 of the entry guide 200 through which the camera instrument 211 extends. In particular, the location of the focal point 2104 along the longitudinal axis 2101 and the size of the azimuth angle α are selected so that the virtual camera 2103 has a slight elevation that provides adequate depth perception in the isometric rendering of the auxiliary view and its field of view 2106 includes the links of the camera instrument 211 and surgical tool 231 during the camera positioning mode. User studies have indicated that an angle α of approximately 25 degrees is particularly desirable for this purpose. The symmetry properties of the "zero position" reference frame are also applicable in the "auxiliary view" reference frame, with the potential advantage that the operator can use the isometric view to drive the position and orientation of the camera tip 311 and have entirely consistent haptic feedback in that frame.
[0093] In 1904, the orientation of a hand-grippable part of the input device 108 {referred to herein as the "master orientation") is aligned so that the master orientation with respect to camera captured images displayed on the 3-D monitor 104 is the same as the current orientation of the camera tip 311 with respect to the reference frame computed in 1903 for camera control. Alternatively, this orientation alignment may be avoided by, for example, computing and accounting for the offset between the current master orientation and the current camera orientation so that the master angular motions with respect to the initial orientation are used to command the movement of the camera tip 311.
(0094) In 1905, the current position of the hand-grippable part of the input device 108 is mapped to the current position of the camera tip 311 so as to cancel translational offsets, and in 1906, user-selectable scaling factors are set between the input device 108 and the camera 211 workspaces.
10095] In 1907, the camera controller (CTRLC) 213 is enabled so that the input device 108 now controls the positioning and orienting of the articulatable camera instrument 211 through the camera controller (CTRLC) 213 and manipulator (ECM) 212, and in 1908, the camera tip 311 is moved to the desired position and/or orientation. A description of the camera controller 213 using the control reference frame is provided below in reference to FIG. 22.
[0096] Once the camera tip 311 has been positioned and/or oriented as desired, then the method performs preparatory tasks 1909-1910 before enabling control over the tool 241 by the input device 108 in 1911. In particular, in 1909, the camera 211 is soft-locked so that it is commanded to remain in its present stationary state (i.e., the desired position and/or orientation) by the camera controller 213, and in 1910, the master orientation is aligned with that of the tool 241.
[0097] FIG. 22 illustrates, as an example, a block diagram of the camera controller (CTRLC) 213 for controlling movement of the camera manipulator (ECM) 212 (also referred to herein as "slave manipulator" or "slave") and consequently, the position and orientation of the tip 311 of the camera instrument 211, as commanded by movement of the input device 108 (also referred to herein as "master manipulator" or "master") by the Surgeon.
[0098] The input device 108 includes a number of links connected by joints so as to facilitate multiple degrees-of- freedom movement. For example, as the Surgeon moves the input device 108 from one position to another, sensors associated with the joints of the input device 108 sense such movement at sampling intervals (appropriate for the processing speed of the controller 102 and camera control purposes) and provide digital information indicating such sampled movement in joint space to input processing block 2210.
[0099] Input processing block 2210 processes the information received from the joint sensors of the input device 108 to transform the information into a corresponding desired position and velocity for the camera tip 311 in its Cartesian space relative to a reference frame associated with the position of the Surgeon's eyes {the "eye reference frame") by computing a joint velocity from the joint position information and performing the transformation using a Jacobian matrix and eye related information using well-known transformation techniques.
[0100] Scale and offset processing blocks 2201 receives the processed information 2211 from the input processing block 2210 and applies scale and offset adjustments to the information so that the resulting movement of the camera tip 311 and consequently, its computer generated auxiliary view being viewed by the Surgeon at the time on the monitor 104 and/or auxiliary display 140 appears natural and as expected by the Surgeon. The scale adjustment is useful where small movements of the camera tip 311 are desired relative to larger movement of the input device 108 in order to allow more precise movement of the camera tip 311 as it views the work site. An offset adjustment is applied for aligning the input device 108 with respect to the Surgeon's eyes as he or she manipulates the input device 108 to command movement of the camera tip 311 through the auxiliary view that is being displayed at the time on the monitor 104 and/or auxiliary display 140.
[0101] A simulated camera block 2204 receives the output 2221 of the scale and offset processing block 2201 and transforms the commanded position and velocity for the camera tip 311 from the Cartesian space of the eye reference frame to the joint space of the camera manipulator 212 using its inverse kinematics while avoiding singularities in its operation and limiting the commanded joint positions and velocities to avoid physical limitations or other constraints such as avoiding harmful contact with tissue or other parts of the Patient. To perform such transformation, a mapping is performed between the eye frame and the control reference frame {provided by the reference frame computation block 2250} and another mapping is performed between a tip of the hand-grippable part of the master 108 and the camera tip 311. Note that these mappings preserve orientations while offsets are compensated for in the scale and offset block 2201. Once the mappings are established, the inverse and forward kinematics blocks 2204, 2206 use this information to perform their computations since the mappings describe the positions and orientations of the master and camera tips with respect to the control reference frame.
[0102] The output 2224 of the simulated camera block 2204 is then provided to a joint controller block 2205 and a forward kinematics block 2206. The joint controller block 2205 includes a joint control system for each controlled joint (or operatively coupled joints such as "joggle joints") of the camera instrument 211 (such as translational and orientational assemblies shown and described in reference to FIG. 8) . The output 2224 of the simulated camera block 2204 provides the commanded value for each joint of the camera instrument 211, For feedback control purposes, sensors associated with each of the controlled joints of the camera instrument 211 provide sensor data 2232 back to the joint controller block 2205 indicating the current position and/or velocity of each joint of the camera instrument 211. The sensors may sense this joint information either directly (e.g., from the joint on the camera instrument 211} or indirectly (e.g., from the actuator in the camera manipulator 212 driving the joint) . Each joint control system in the joint controller 2205 then generates torque commands for its respective actuator in the camera manipulator 212 so as to drive the difference between the commanded and sensed joint values to zero in a conventional feedback control system manner.
[0103] The forward kinematics block 2206 transforms the output 2224 of the simulated camera block 2204 from joint space back to Cartesian space relative to the eye reference frame using the forward kinematics of the camera instrument 211 with respect to the control reference frame (provided by the reference frame computation block 2250) . The scale and offset block 2201 performs an inverse scale and offset function on the output 2242 of the forward kinematics block 2206 before passing its output 2212 to the input processing block 2210 where an error value is calculated between its output 2211 and input 2212. If no limitation or other constraint had been imposed on the input 2221 to the simulated camera block 2204, then the calculated error value would be zero. On the other hand, if a limitation or constraint had been imposed, then the error value is not zero and it is converted to a torque command that drives actuators in the input device 108 to provide force feedback felt by the hands of the Surgeon. Thus, the Surgeon becomes aware that a limitation or constraint is being imposed by the force that he or she feels resisting his or her movement of the input device 108 in that direction. In addition to this force feedback, forces coming from other sensors or algorithms (e.g., a force/pressure sensor or an algorithm to avoid the work volume of the surgical tools to prevent collisions) may be superimposed on the force feedback.
[0104) An output 2241 of the forward kinematics block 2206 may also be provided to the simulated camera block 2204 for control purposes. For example, the simulated position output may be fed back and compared with the commanded position.
[0105] Although the various aspects of the present invention have been described with respect to a preferred embodiment, it will be understood that the invention is entitled to full protection within the full scope of the appended claims.

Claims

CLAIMSWe claim:
1. A method for positioning and orienting a camera tip, the method comprising: determining positions of mechanical elements used for positioning and orienting the camera tip; determining a position and orientation of the camera tip using the determined positions of the mechanical elements; generating a view of a computer model of the camera corresponding to a perspective of a virtual camera; displaying the view on a display screen; and controlling the positioning and orienting of the camera tip by moving the mechanical elements in response to manipulation of an input device so that the positioning and orienting of the camera tip intuitively appears to an operator who is manipulating the input device while viewing the display screen to correspond to the displayed view of the computer model of the camera.
2. The method according claim 1, wherein the determination of the positions of the mechanical elements comprises: determining the positions of the mechanical elements using information provided by sensors that sense the positions.
3. The method according to claim 2, wherein the mechanical elements include joints of a manipulator used to position and orient the camera tip.
4. The method according to claim 2, wherein the mechanical elements include links of a manipulator used to position and orient the camera tip.
5. The method according claim 1, wherein the determination of the positions of the mechanical elements comprises: determining the positions of the mechanical elements using information provided by encoders that sense actuation of actuators used to position the mechanical elements.
6. The method according to claim 1, wherein the mechanical elements are included in a manipulator used for positioning and orienting the camera tip and the determination of the positions of the mechanical elements comprises: receiving information from a sensor disposed on the camera tip; and calculating the positions of the mechanical elements by applying the information received from the sensor to inverse kinematics of the manipulator.
7. The method according to claim 1, wherein the mechanical elements are included in a manipulator used for positioning and orienting the camera tip and the determination of the position and orientation of the camera tip using the determined positions of the mechanical elements comprises: calculating the position and orientation of the camera tip by applying the determined positions of the mechanical elements to forward kinematics of the manipulator.
8. The method according to claim 1, wherein the generation of the view of the computer model of the camera corresponding to the perspective of the virtual camera comprises: generating a three-dimensional computer model of the camera; and translating the computer model to the perspective of the virtual camera.
9. The method according to claim 8, wherein the camera is an articulatable camera instrument extending out an entry guide, the virtual camera has identical characteristics as the camera, and the perspective of the virtual camera is at a position and orientation from which the camera instrument extending out of the entry guide is within a field of view of the virtual camera.
10. The method according to claim 9, wherein at least one articulatable instrument extends out of the entry guide along with the articulatable camera instrument and the perspective of the virtual camera is at a position and orientation from which the at least one articulatable instrument and the camera instrument extending out of the entry guide are at least partially within the field of view of the virtual camera.
11. The method according to claim 1, wherein the camera is an articulatable camera instrument extending out an entry guide and the controlling of the position and orientation of the camera tip comprises: defining a Cartesian reference frame having an origin at the position of the virtual camera and oriented such that one axis of the reference frame points toward a focal point on a longitudinal axis extending between proximal and distal ends of the entry guide; and controlling the position and orientation of the camera tip in response to the operator manipulation of the input device such that movement of the input device in a Cartesian reference frame associated with the input device results in corresponding scaled movement of the camera tip relative to the Cartesian reference frame of the virtual camera.
12. The method according to claim 1, wherein the camera is an articulatable camera instrument extending out an entry guide and the controlling of the position and orientation of the camera tip comprises: defining a Cartesian reference frame having an origin where a central longitudinal axis of the entry guide intersects an orthogonal plane at a distal end of the entry guide where the camera instrument extends out of the entry guide and oriented such that one axis of the reference frame is parallel with the central longitudinal axis; and controlling the position and orientation of the camera tip in response to the operator manipulation of the input device such that movement of the input device in a Cartesian reference frame associated with the input device results in corresponding scaled movement of the camera tip relative to the Cartesian reference frame defined at the distal end of the entry guide.
13. The method according to claim 1, further comprising prior to controlling the position and orientation of the camera tip: disengaging control of an instrument associated with the input device so as to hold the instrument in place; aligning an orientation of the input device relative to an orientation of the camera tip; and engaging control of the camera tip with the input device.
14. The method according to claim 13, further comprising after controlling the position and orientation of the camera : disengaging control of the camera tip with the input device so as to hold the camera tip in place; aligning the orientation of the input device relative to an orientation of a tip of the instrument; and engaging control of the instrument with the input device.
15. A medical robotic system comprising: a camera; mechanical elements used for positioning and orienting a tip of the camera; a display screen; an input device; and a controller configured to determine positions of the mechanical elements, determine a position and orientation of the camera tip using the determined positions of the mechanical elements, generate a view of a computer model of the camera corresponding to a perspective of a virtual camera, display the view on the display screen, and control the positioning and orienting of the camera tip by moving the mechanical elements in response to manipulation of the input device so that the positioning and orienting of the camera tip intuitively appears to an operator who is manipulating the input device while viewing the display screen to correspond to the displayed view of the computer model of the camera.
16. The medical robotic system according claim 15, wherein the controller is configured to determine the positions of the mechanical elements using information provided by sensors that sense the positions.
17. The medical robotic system according claim 15, wherein the mechanical elements include joints of a manipulator used to position and orient the camera tip.
18. The medical robotic system according claim 15, wherein the mechanical elements include links of a manipulator used to position and orient the camera tip.
19. The medical robotic system according claim 15, further comprising: actuators used to position the mechanical elements, wherein the controller is configured to determine the positions of the mechanical elements using information provided by encoders that sense actuation of the actuators.
20. The medical robotic system according claim 15, wherein the mechanical elements are included in a manipulator used for positioning and orienting the camera tip and the controller is configured to determine the positions of the mechanical elements by receiving information from a sensor disposed on the camera tip and calculating the positions of the mechanical elements by applying the information received from the sensor to inverse kinematics of the manipulator.
21. The medical robotic system according claim 15, wherein the mechanical elements are included in a manipulator used for positioning and orienting the camera tip and the controller is configured to calculate the position and orientation of the camera tip by applying the determined positions of the mechanical elements to forward kinematics of the manipulator.
22. The medical robotic system according claim 15, wherein the controller is configured to generate the view of the computer model of the camera corresponding to the perspective of the virtual camera by generating a three-dimensional computer model of the camera and translating the computer model to the perspective of the virtual camera.
23. The medical robotic system according to claim 22, further comprising: an entry guide, wherein the camera is an articulatable camera instrument extending out the entry guide, the virtual camera has identical characteristics as the camera, and the perspective of the virtual camera is at a position and orientation from which the camera instrument extending out of the entry guide is within a field of view of the virtual camera.
24. The medical robotic system according to claim 23, further comprising: at least one articulatable instrument, wherein the at least one articulatable instrument extends out of the entry guide along with the articulatable camera instrument and the perspective of the virtual camera is at a position and orientation from which the at least one articulatable instrument and the camera instrument extending out of the entry guide are at least partially within the field of view of the virtual camera.
25. The medical robotic system according to claim 15, further comprising an entry guide, wherein the camera is an articulatable camera instrument extending out the entry guide and the controller is configured to: define a Cartesian reference frame having an origin at the position of the virtual camera and oriented such that one axis of the reference frame points to a focal point on a longitudinal axis extending between proximal and distal ends of the entry guide, and control the position and orientation of the camera tip in response to the operator manipulation of the input device such that movement of the input device in a Cartesian reference frame associated with the input device results in corresponding scaled movement of the camera tip relative to the Cartesian reference frame of the virtual camera.
26. The medical robotic system according to claim 15, further comprising an entry guide, wherein the camera is an articulatable camera instrument extending out the entry guide and the controller is configured to: define a Cartesian reference frame having an origin where a central longitudinal axis of the entry guide intersects an orthogonal plane at a distal end of the entry guide where the camera instrument extends out of the entry guide and oriented such that one axis of the reference frame is parallel with the central longitudinal axis, and control the position and orientation of the camera tip in response to the operator manipulation of the input device such that movement of the input device in a Cartesian reference frame associated with the input device results in corresponding scaled movement of the camera tip relative to the Cartesian reference frame defined at the distal end of the entry guide.
27. The medical robotic system according to claim 15, wherein the controller is configured tor disengage control of an instrument associated with the input device so as to hold the instrument in place, align an orientation of the input device relative to an orientation of the camera tip, and engage control of the camera tip with the input device prior to controlling the positioning and orienting of the camera tip.
28. The medical robotic system according to claim 27, wherein the controller is configured to: disengage control of the camera tip with the input device so as to hold the camera tip in place, align the orientation of the input device relative to an orientation of a tip of the instrument, and engage control of the instrument with the input device after controlling the positioning and orienting of the camera tip.
EP09792281.9A 2008-09-30 2009-09-04 Medical robotic system providing computer generated auxiliary views of a camera instrument for controlling the positioning and orienting of its tip Active EP2349053B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP16173584.0A EP3115159B1 (en) 2008-09-30 2009-09-04 Medical robotic system providing computer generated auxiliary views of a camera instrument for controlling the positioning and orienting of its tip

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US10138408P 2008-09-30 2008-09-30
US12/336,713 US8864652B2 (en) 2008-06-27 2008-12-17 Medical robotic system providing computer generated auxiliary views of a camera instrument for controlling the positioning and orienting of its tip
PCT/US2009/056078 WO2010039394A1 (en) 2008-09-30 2009-09-04 Medical robotic system providing computer generated auxiliary views of a camera instrument for controlling the positioning and orienting of its tip

Related Child Applications (2)

Application Number Title Priority Date Filing Date
EP16173584.0A Division EP3115159B1 (en) 2008-09-30 2009-09-04 Medical robotic system providing computer generated auxiliary views of a camera instrument for controlling the positioning and orienting of its tip
EP16173584.0A Division-Into EP3115159B1 (en) 2008-09-30 2009-09-04 Medical robotic system providing computer generated auxiliary views of a camera instrument for controlling the positioning and orienting of its tip

Publications (2)

Publication Number Publication Date
EP2349053A1 true EP2349053A1 (en) 2011-08-03
EP2349053B1 EP2349053B1 (en) 2018-02-21

Family

ID=41395897

Family Applications (2)

Application Number Title Priority Date Filing Date
EP16173584.0A Active EP3115159B1 (en) 2008-09-30 2009-09-04 Medical robotic system providing computer generated auxiliary views of a camera instrument for controlling the positioning and orienting of its tip
EP09792281.9A Active EP2349053B1 (en) 2008-09-30 2009-09-04 Medical robotic system providing computer generated auxiliary views of a camera instrument for controlling the positioning and orienting of its tip

Family Applications Before (1)

Application Number Title Priority Date Filing Date
EP16173584.0A Active EP3115159B1 (en) 2008-09-30 2009-09-04 Medical robotic system providing computer generated auxiliary views of a camera instrument for controlling the positioning and orienting of its tip

Country Status (6)

Country Link
US (2) US8864652B2 (en)
EP (2) EP3115159B1 (en)
JP (1) JP5675621B2 (en)
KR (2) KR101653185B1 (en)
CN (1) CN102170835B (en)
WO (1) WO2010039394A1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9550293B2 (en) 2013-03-18 2017-01-24 Olympus Corporation Manipulator

Families Citing this family (197)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8944070B2 (en) 1999-04-07 2015-02-03 Intuitive Surgical Operations, Inc. Non-force reflecting method for providing tool force information to a user of a telesurgical system
US7960935B2 (en) * 2003-07-08 2011-06-14 The Board Of Regents Of The University Of Nebraska Robotic devices with agent delivery components and related methods
US7918795B2 (en) 2005-02-02 2011-04-05 Gynesonics, Inc. Method and device for uterine fibroid treatment
US9789608B2 (en) 2006-06-29 2017-10-17 Intuitive Surgical Operations, Inc. Synthetic representation of a surgical robot
US7571027B2 (en) * 2005-05-31 2009-08-04 The Boeing Company Kinematic singular point compensation systems and methods
US11259870B2 (en) 2005-06-06 2022-03-01 Intuitive Surgical Operations, Inc. Interactive user interfaces for minimally invasive telesurgical systems
EP1887961B1 (en) * 2005-06-06 2012-01-11 Intuitive Surgical Operations, Inc. Laparoscopic ultrasound robotic surgical system
US11259825B2 (en) 2006-01-12 2022-03-01 Gynesonics, Inc. Devices and methods for treatment of tissue
US10595819B2 (en) 2006-04-20 2020-03-24 Gynesonics, Inc. Ablation device with articulated imaging transducer
US8062211B2 (en) 2006-06-13 2011-11-22 Intuitive Surgical Operations, Inc. Retrograde instrument
US10008017B2 (en) 2006-06-29 2018-06-26 Intuitive Surgical Operations, Inc. Rendering tool information as graphic overlays on displayed images of tools
US10258425B2 (en) 2008-06-27 2019-04-16 Intuitive Surgical Operations, Inc. Medical robotic system providing an auxiliary view of articulatable instruments extending out of a distal end of an entry guide
US20090192523A1 (en) 2006-06-29 2009-07-30 Intuitive Surgical, Inc. Synthetic representation of a surgical instrument
US9718190B2 (en) 2006-06-29 2017-08-01 Intuitive Surgical Operations, Inc. Tool position and identification indicator displayed in a boundary area of a computer display screen
US9084623B2 (en) 2009-08-15 2015-07-21 Intuitive Surgical Operations, Inc. Controller assisted reconfiguration of an articulated instrument during movement into and out of an entry guide
US8620473B2 (en) 2007-06-13 2013-12-31 Intuitive Surgical Operations, Inc. Medical robotic system with coupled control modes
US9138129B2 (en) 2007-06-13 2015-09-22 Intuitive Surgical Operations, Inc. Method and system for moving a plurality of articulated instruments in tandem back towards an entry guide
US9089256B2 (en) 2008-06-27 2015-07-28 Intuitive Surgical Operations, Inc. Medical robotic system providing an auxiliary view including range of motion limitations for articulatable instruments extending out of a distal end of an entry guide
US8903546B2 (en) 2009-08-15 2014-12-02 Intuitive Surgical Operations, Inc. Smooth control of an articulated instrument across areas with different work space conditions
US9469034B2 (en) 2007-06-13 2016-10-18 Intuitive Surgical Operations, Inc. Method and system for switching modes of a robotic system
US8088072B2 (en) 2007-10-12 2012-01-03 Gynesonics, Inc. Methods and systems for controlled deployment of needles in tissue
US8864652B2 (en) 2008-06-27 2014-10-21 Intuitive Surgical Operations, Inc. Medical robotic system providing computer generated auxiliary views of a camera instrument for controlling the positioning and orienting of its tip
US8414469B2 (en) * 2008-06-27 2013-04-09 Intuitive Surgical Operations, Inc. Medical robotic system having entry guide controller with instrument tip velocity limiting
US8262574B2 (en) 2009-02-27 2012-09-11 Gynesonics, Inc. Needle and tine deployment mechanism
US8337397B2 (en) 2009-03-26 2012-12-25 Intuitive Surgical Operations, Inc. Method and system for providing visual guidance to an operator for steering a tip of an endoscopic device toward one or more landmarks in a patient
US10004387B2 (en) 2009-03-26 2018-06-26 Intuitive Surgical Operations, Inc. Method and system for assisting an operator in endoscopic navigation
US20100306685A1 (en) * 2009-05-29 2010-12-02 Microsoft Corporation User movement feedback via on-screen avatars
US9492927B2 (en) 2009-08-15 2016-11-15 Intuitive Surgical Operations, Inc. Application of force feedback on an input device to urge its operator to command an articulated instrument to a preferred pose
US8918211B2 (en) * 2010-02-12 2014-12-23 Intuitive Surgical Operations, Inc. Medical robotic system providing sensory feedback indicating a difference between a commanded state and a preferred pose of an articulated instrument
JP5604233B2 (en) * 2009-09-30 2014-10-08 富士フイルム株式会社 Inspection information management system, inspection information management method, and program for causing computer to execute the method
KR101070690B1 (en) * 2010-03-16 2011-10-11 송광석 Electronic Endoscope for providing 3D image data
US9251721B2 (en) 2010-04-09 2016-02-02 University Of Florida Research Foundation, Inc. Interactive mixed reality system and uses thereof
JP5711380B2 (en) 2010-10-22 2015-04-30 メドロボティクス コーポレイション Articulated robotic probe
US9649163B2 (en) 2010-11-11 2017-05-16 Medrobotics Corporation Introduction devices for highly articulated robotic probes and methods of production and use of such probes
US20130066136A1 (en) * 2010-11-24 2013-03-14 Mount Sinai School Of Medicine Magnetic based device for retrieving a misplaced article
US9486189B2 (en) 2010-12-02 2016-11-08 Hitachi Aloka Medical, Ltd. Assembly for use with surgery system
US9439556B2 (en) * 2010-12-10 2016-09-13 Wayne State University Intelligent autonomous camera control for robotics with medical, military, and space applications
US9259289B2 (en) * 2011-05-13 2016-02-16 Intuitive Surgical Operations, Inc. Estimation of a position and orientation of a frame used in controlling movement of a tool
AU2012262011A1 (en) * 2011-06-02 2013-12-19 Medrobotics Corporation Robotic systems, robotic system user interfaces, human interface devices for controlling robotic systems and methods of controlling robotic systems
US11911117B2 (en) 2011-06-27 2024-02-27 Board Of Regents Of The University Of Nebraska On-board tool tracking system and methods of computer assisted surgery
US10219811B2 (en) 2011-06-27 2019-03-05 Board Of Regents Of The University Of Nebraska On-board tool tracking system and methods of computer assisted surgery
US9498231B2 (en) 2011-06-27 2016-11-22 Board Of Regents Of The University Of Nebraska On-board tool tracking system and methods of computer assisted surgery
US9089353B2 (en) 2011-07-11 2015-07-28 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems, and related methods
CN104010773B (en) 2011-09-13 2017-01-18 美的洛博迪克斯公司 Highly Articulated Probes With Anti-Twist Link Arrangement, Methods Of Formation Thereof, And Methods Of Performing Medical Procedures
US9452276B2 (en) 2011-10-14 2016-09-27 Intuitive Surgical Operations, Inc. Catheter with removable vision probe
CN107252517B (en) * 2011-10-14 2020-06-02 直观外科手术操作公司 Catheter system
US20130303944A1 (en) 2012-05-14 2013-11-14 Intuitive Surgical Operations, Inc. Off-axis electromagnetic sensor
AU2012358829B2 (en) 2011-12-21 2017-08-03 Medrobotics Corporation Stabilizing apparatus for highly articulated probes with link arrangement, methods of formation thereof, and methods of use thereof
KR101876386B1 (en) * 2011-12-29 2018-07-11 삼성전자주식회사 Medical robotic system and control method for thereof
EP2814642B1 (en) * 2012-02-15 2018-11-14 Intuitive Surgical Operations, Inc. User selection of robotic system operating modes using mode distinguishing operator actions
CN106725857B (en) * 2012-02-15 2019-06-07 直观外科手术操作公司 Robot system
ES2881537T3 (en) * 2012-03-07 2021-11-29 Transenterix Europe Sarl General endoscopic control system
KR101800189B1 (en) 2012-04-30 2017-11-23 삼성전자주식회사 Apparatus and method for controlling power of surgical robot
EP3845190B1 (en) 2012-05-01 2023-07-12 Board of Regents of the University of Nebraska Single site robotic device and related systems
JP5941762B2 (en) * 2012-06-14 2016-06-29 オリンパス株式会社 Manipulator system
CA2876846C (en) * 2012-06-22 2021-04-06 Board Of Regents Of The University Of Nebraska Local control robotic surgical devices and related methods
US9245428B2 (en) * 2012-08-02 2016-01-26 Immersion Corporation Systems and methods for haptic remote control gaming
EP2882331A4 (en) 2012-08-08 2016-03-23 Univ Nebraska Robotic surgical devices, systems, and related methods
US9770305B2 (en) 2012-08-08 2017-09-26 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems, and related methods
US9452020B2 (en) * 2012-08-15 2016-09-27 Intuitive Surgical Operations, Inc. User initiated break-away clutching of a surgical mounting platform
US8992427B2 (en) 2012-09-07 2015-03-31 Gynesonics, Inc. Methods and systems for controlled deployment of needle structures in tissue
JP6221166B2 (en) 2012-10-22 2017-11-01 ジーイー・メディカル・システムズ・グローバル・テクノロジー・カンパニー・エルエルシー Display device, medical device, and program
WO2014070799A1 (en) 2012-10-30 2014-05-08 Truinject Medical Corp. System for injection training
US9792836B2 (en) 2012-10-30 2017-10-17 Truinject Corp. Injection training apparatus using 3D position sensor
US8836937B2 (en) * 2012-11-19 2014-09-16 General Electric Company Actuatable visual inspection device
EP2931162A4 (en) 2012-12-11 2016-07-13 Olympus Corp Endoscopic device and method of controlling endoscopic device
DE102012025100A1 (en) * 2012-12-20 2014-06-26 avateramedical GmBH Decoupled multi-camera system for minimally invasive surgery
DE102012025102A1 (en) * 2012-12-20 2014-06-26 avateramedical GmBH Endoscope with a multi-camera system for minimally invasive surgery
KR101740168B1 (en) * 2012-12-25 2017-05-25 가와사끼 쥬고교 가부시끼 가이샤 Surgical robot
JP6072283B2 (en) * 2013-01-28 2017-02-01 オリンパス株式会社 MEDICAL MANIPULATOR AND METHOD OF OPERATING MEDICAL MANIPULATOR
US10507066B2 (en) 2013-02-15 2019-12-17 Intuitive Surgical Operations, Inc. Providing information of tools by filtering image areas adjacent to or on displayed images of the tools
US9566414B2 (en) 2013-03-13 2017-02-14 Hansen Medical, Inc. Integrated catheter and guide wire controller
CA2906672C (en) 2013-03-14 2022-03-15 Board Of Regents Of The University Of Nebraska Methods, systems, and devices relating to force control surgical systems
KR102217573B1 (en) * 2013-03-15 2021-02-19 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 Systems and methods for tracking a path using the null-space
US9827054B2 (en) * 2014-03-14 2017-11-28 Synaptive Medical (Barbados) Inc. Intelligent positioning system and methods therefore
US10667883B2 (en) 2013-03-15 2020-06-02 Virtual Incision Corporation Robotic surgical devices, systems, and related methods
US9283046B2 (en) 2013-03-15 2016-03-15 Hansen Medical, Inc. User interface for active drive apparatus with finite range of motion
KR102283176B1 (en) 2013-03-15 2021-07-29 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 Inter-operative switching of tools in a robotic surgical system
US10105149B2 (en) 2013-03-15 2018-10-23 Board Of Regents Of The University Of Nebraska On-board tool tracking system and methods of computer assisted surgery
US10849702B2 (en) 2013-03-15 2020-12-01 Auris Health, Inc. User input devices for controlling manipulation of guidewires and catheters
JP5673716B2 (en) * 2013-03-19 2015-02-18 株式会社安川電機 Robot system and method of manufacturing workpiece
US11020016B2 (en) 2013-05-30 2021-06-01 Auris Health, Inc. System and method for displaying anatomy and devices on a movable display
CA2918531A1 (en) 2013-07-17 2015-01-22 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems and related methods
JP6144596B2 (en) * 2013-09-30 2017-06-07 Dmg森精機株式会社 Display device
CN104802174B (en) * 2013-10-10 2016-09-07 精工爱普生株式会社 Robot control system, robot, program and robot control method
JP6000928B2 (en) * 2013-10-24 2016-10-05 オリンパス株式会社 Medical manipulator and initialization method for medical manipulator
US9922578B2 (en) 2014-01-17 2018-03-20 Truinject Corp. Injection site training system
KR101548646B1 (en) * 2014-01-21 2015-09-01 가톨릭관동대학교산학협력단 Trans-Platform Apparatus and Their Uses
WO2015121765A1 (en) * 2014-02-12 2015-08-20 Koninklijke Philips N.V. Robotic control of surgical instrument visibility
US10290231B2 (en) 2014-03-13 2019-05-14 Truinject Corp. Automated detection of performance characteristics in an injection training system
EP3119323B1 (en) * 2014-03-17 2019-08-28 Intuitive Surgical Operations, Inc. System and machine readable medium executing a method for recentering imaging devices and input controls
US20170127911A1 (en) * 2014-03-19 2017-05-11 Endomaster Pte Ltd Master - slave flexible robotic endoscopy system
EP3123284B1 (en) * 2014-03-24 2020-05-06 Intuitive Surgical Operations, Inc. System and method for virtual feedback with haptic devices
EP3243476B1 (en) 2014-03-24 2019-11-06 Auris Health, Inc. Systems and devices for catheter driving instinctiveness
WO2015154069A1 (en) * 2014-04-04 2015-10-08 Surgical Theater LLC Dynamic and interactive navigation in a surgical environment
US9907696B2 (en) * 2014-04-18 2018-03-06 The Johns Hopkins University Fiber optic distal sensor controlled micro-manipulation systems and methods
KR20150128049A (en) * 2014-05-08 2015-11-18 삼성전자주식회사 Surgical robot and control method thereof
JP6017729B2 (en) * 2014-06-27 2016-11-02 オリンパス株式会社 Endoscope system
US9840007B1 (en) 2014-08-25 2017-12-12 X Development Llc Robotic operation libraries
US10172666B2 (en) 2014-09-18 2019-01-08 Covidien Lp System and method for controlling operation of an electrosurgical system
EP3217890B1 (en) 2014-11-11 2020-04-08 Board of Regents of the University of Nebraska Robotic device with compact joint design
US10235904B2 (en) 2014-12-01 2019-03-19 Truinject Corp. Injection training tool emitting omnidirectional light
US9375853B1 (en) * 2014-12-03 2016-06-28 Google Inc. Methods and systems to provide feedback based on a motion per path metric indicative of an effect of motion associated with components of a robotic device
JP2016107379A (en) * 2014-12-08 2016-06-20 ファナック株式会社 Robot system including augmented reality corresponding display
WO2016112383A1 (en) 2015-01-10 2016-07-14 University Of Florida Research Foundation, Inc. Simulation features combining mixed reality and modular tracking
CN104658363A (en) * 2015-02-13 2015-05-27 浙江省人民医院 Training mold for Da Vinci robot system
EP3261574A4 (en) * 2015-02-26 2018-10-31 Covidien LP Robotically controlling remote center of motion with software and guide tube
EP3068002B1 (en) 2015-03-12 2019-11-06 Schleuniger Holding AG Cable processing machine with improved precision mechanism for cable processing
EP3628264B1 (en) * 2015-03-17 2024-10-16 Intuitive Surgical Operations, Inc. Systems and methods for rendering onscreen identification of instruments in a teleoperational medical system
US10751135B2 (en) * 2015-03-17 2020-08-25 Intuitive Surgical Operations, Inc. System and method for providing feedback during manual joint positioning
JP6766062B2 (en) * 2015-03-17 2020-10-07 インテュイティブ サージカル オペレーションズ, インコーポレイテッド Systems and methods for on-screen identification of instruments in remote-controlled medical systems
USRE49930E1 (en) 2015-03-26 2024-04-23 Universidade De Coimbra Methods and systems for computer-aided surgery using intra-operative video acquired by a free moving camera
EP3285634A4 (en) * 2015-04-20 2019-01-09 Medrobotics Corporation Articulated robotic probes
CN104771232A (en) * 2015-05-05 2015-07-15 北京汇影互联科技有限公司 Electromagnetic positioning system and selection method for three-dimensional image view angle of electromagnetic positioning system
CN114376733A (en) * 2015-06-09 2022-04-22 直观外科手术操作公司 Configuring a surgical system using a surgical procedure atlas
KR102512881B1 (en) * 2015-06-10 2023-03-23 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 Master to slave orientation mapping when misaligned
DE102015109371A1 (en) * 2015-06-12 2016-12-15 avateramedical GmBH Apparatus and method for robotic surgery
CN107708598A (en) * 2015-06-18 2018-02-16 奥林巴斯株式会社 Medical system
US9815198B2 (en) * 2015-07-23 2017-11-14 X Development Llc System and method for determining a work offset
CN114027986B (en) 2015-08-03 2024-06-14 内布拉斯加大学董事会 Robotic surgical device systems and related methods
US9789610B1 (en) * 2015-09-02 2017-10-17 X Development Llc Safe path planning for collaborative robots
EP3365049A2 (en) 2015-10-20 2018-08-29 Truinject Medical Corp. Injection system
CN108472084B (en) 2015-11-12 2021-08-27 直观外科手术操作公司 Surgical system with training or assisting function
US11058386B2 (en) * 2015-11-16 2021-07-13 Canon Medical Systems Corporation X-ray diagnosis apparatus and medical image diagnosis system for specifying a device being currently operated
WO2017103984A1 (en) * 2015-12-15 2017-06-22 オリンパス株式会社 Medical manipulator system and operation method therefor
CN105411681B (en) * 2015-12-22 2018-07-03 哈尔滨工业大学 The hand eye coordination control system and method for split type micro-wound operation robot
CN105395254B (en) * 2015-12-22 2018-03-30 哈尔滨工业大学 A kind of control system of split type micro-wound operation robot
US10219868B2 (en) 2016-01-06 2019-03-05 Ethicon Llc Methods, systems, and devices for controlling movement of a robotic surgical system
US10154886B2 (en) 2016-01-06 2018-12-18 Ethicon Llc Methods, systems, and devices for controlling movement of a robotic surgical system
US9949798B2 (en) * 2016-01-06 2018-04-24 Ethicon Endo-Surgery, Llc Methods, systems, and devices for controlling movement of a robotic surgical system
US10130429B1 (en) 2016-01-06 2018-11-20 Ethicon Llc Methods, systems, and devices for controlling movement of a robotic surgical system
WO2017151441A2 (en) 2016-02-29 2017-09-08 Truinject Medical Corp. Cosmetic and therapeutic injection safety systems, methods, and devices
WO2017151963A1 (en) 2016-03-02 2017-09-08 Truinject Madical Corp. Sensory enhanced environments for injection aid and social training
US10648790B2 (en) 2016-03-02 2020-05-12 Truinject Corp. System for determining a three-dimensional position of a testing tool
US20190088162A1 (en) * 2016-03-04 2019-03-21 Covidien Lp Virtual and/or augmented reality to provide physical interaction training with a surgical robot
US10213916B2 (en) * 2016-03-23 2019-02-26 Seiko Epson Corporation Control apparatus and robot system
US10751136B2 (en) 2016-05-18 2020-08-25 Virtual Incision Corporation Robotic surgical devices, systems and related methods
KR102414405B1 (en) * 2016-06-09 2022-06-30 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 Computer-assisted teleoperated surgical systems and methods
CN109195544B (en) 2016-07-14 2021-07-20 直观外科手术操作公司 Secondary instrument control in computer-assisted teleoperation system
CN113893032B (en) * 2016-07-14 2024-10-15 直观外科手术操作公司 System and method for teleoperation of on-screen menus in a medical system
US11037464B2 (en) 2016-07-21 2021-06-15 Auris Health, Inc. System with emulator movement tracking for controlling medical devices
CN106361431A (en) * 2016-08-29 2017-02-01 杭州捷诺飞生物科技有限公司 Biological 3D printing technology-based cutting and repairing integrated surgical robot
WO2018071573A1 (en) * 2016-10-12 2018-04-19 Intuitive Surgical Operations, Inc. Surgical puncture device insertion systems and related methods
AU2017359338B2 (en) 2016-11-11 2022-09-08 Gynesonics, Inc. Controlled treatment of tissue and dynamic interaction with, and comparison of, tissue and/or treatment data
EP3537968B1 (en) 2016-11-14 2023-07-19 Gynesonics, Inc. Systems for real-time planning and monitoring of ablation needle deployment in tissue
JP7092382B2 (en) * 2017-01-06 2022-06-28 フォトニケア,インコーポレイテッド Self-oriented imaging device and how to use it
US10650703B2 (en) 2017-01-10 2020-05-12 Truinject Corp. Suture technique training system
US10269266B2 (en) 2017-01-23 2019-04-23 Truinject Corp. Syringe dose and position measuring apparatus
JP6858593B2 (en) * 2017-03-02 2021-04-14 ソニー・オリンパスメディカルソリューションズ株式会社 Medical observation device and control method
KR20200004362A (en) 2017-05-04 2020-01-13 지네소닉스, 인크. Monitoring method of ablation process by Doppler ultrasound
US10772703B2 (en) 2017-08-25 2020-09-15 Titan Medical Inc. Methods and apparatuses for positioning a camera of a surgical robotic system to capture images inside a body cavity of a patient during a medical procedure
US11612450B2 (en) 2017-09-05 2023-03-28 Covidien Lp Camera control for surgical robotic systems
US11051894B2 (en) * 2017-09-27 2021-07-06 Virtual Incision Corporation Robotic surgical devices with tracking camera technology and related systems and methods
WO2019069171A1 (en) * 2017-10-06 2019-04-11 Novartis Ag Tracking movement of an eye within a tracking range
CN107767423B (en) * 2017-10-10 2019-12-06 大连理工大学 mechanical arm target positioning and grabbing method based on binocular vision
WO2019083886A1 (en) 2017-10-25 2019-05-02 Intuitive Surgical Operations, Inc. System and method for repositioning input control devices
FR3073135B1 (en) * 2017-11-09 2019-11-15 Quantum Surgical ROBOTIC DEVICE FOR MINI-INVASIVE MEDICAL INTERVENTION ON SOFT TISSUE
US11161243B2 (en) 2017-11-10 2021-11-02 Intuitive Surgical Operations, Inc. Systems and methods for controlling a robotic manipulator or associated tool
US11173597B2 (en) * 2017-11-10 2021-11-16 Intuitive Surgical Operations, Inc. Systems and methods for controlling a robotic manipulator or associated tool
WO2019098052A1 (en) * 2017-11-20 2019-05-23 株式会社Medi Plus Medical safety system
WO2019113391A1 (en) 2017-12-08 2019-06-13 Auris Health, Inc. System and method for medical instrument navigation and targeting
US11071595B2 (en) * 2017-12-14 2021-07-27 Verb Surgical Inc. Multi-panel graphical user interface for a robotic surgical system
KR102414011B1 (en) 2017-12-29 2022-06-27 더 보드 오브 리젠츠 오브 더 유니버시티 오브 텍사스 시스템 A surgical instrument and a method of positioning an end effector with respect to a cap on the end of a sheath
CN117140580A (en) 2018-01-05 2023-12-01 内布拉斯加大学董事会 Single arm robotic device with compact joint design and related systems and methods
WO2019150770A1 (en) * 2018-01-31 2019-08-08 富士フイルム株式会社 Acoustic wave device and acoustic wave device control method
US20200352657A1 (en) * 2018-02-02 2020-11-12 Intellijoint Surgical Inc. Operating room remote monitoring
WO2019177711A1 (en) * 2018-03-13 2019-09-19 Intuitive Surgical Operations, Inc. Methods of guiding manual movement of medical systems
EP3773305A4 (en) * 2018-04-09 2021-12-15 7D Surgical ULC Systems and methods for performing intraoperative guidance
US10058396B1 (en) 2018-04-24 2018-08-28 Titan Medical Inc. System and apparatus for insertion of an instrument into a body cavity for performing a surgical procedure
EP3793465A4 (en) 2018-05-18 2022-03-02 Auris Health, Inc. Controllers for robotically-enabled teleoperated systems
CN108814691B (en) * 2018-06-27 2020-06-02 无锡祥生医疗科技股份有限公司 Ultrasonic guide auxiliary device and system for needle
EP3824796B1 (en) * 2018-07-20 2024-05-15 FUJIFILM Corporation Endoscope system
GB2577719B (en) * 2018-10-03 2023-04-26 Cmr Surgical Ltd Navigational aid
GB2577718B (en) * 2018-10-03 2022-08-24 Cmr Surgical Ltd Feature identification
CN113016038B (en) * 2018-10-12 2024-06-18 索尼集团公司 Haptic barrier to avoid collisions with robotic surgical devices
US12008721B2 (en) 2018-10-26 2024-06-11 Intuitive Surgical Operations, Inc. Mixed reality systems and methods for indicating an extent of a field of view of an imaging device
US11602402B2 (en) 2018-12-04 2023-03-14 Globus Medical, Inc. Drill guide fixtures, cranial insertion fixtures, and related methods and robotic systems
US11903658B2 (en) 2019-01-07 2024-02-20 Virtual Incision Corporation Robotically assisted surgical system and related devices and methods
EP3696593A1 (en) * 2019-02-12 2020-08-19 Leica Instruments (Singapore) Pte. Ltd. A controller for a microscope, a corresponding method and a microscope system
ES2972869T3 (en) * 2019-02-14 2024-06-17 Braun Gmbh System to evaluate the use of a manually planned mobile consumer product
CN113453642A (en) 2019-02-22 2021-09-28 奥瑞斯健康公司 Surgical platform having motorized arms for adjustable arm supports
US20220142721A1 (en) * 2019-04-03 2022-05-12 Intuitive Surgical Operations, Inc. System and method for view restoration
DE102019114817B4 (en) * 2019-06-03 2021-12-02 Karl Storz Se & Co. Kg Imaging system and method of observation
EP3753519A1 (en) * 2019-06-19 2020-12-23 Karl Storz SE & Co. KG Medical handling device
EP3989793A4 (en) 2019-06-28 2023-07-19 Auris Health, Inc. Console overlay and methods of using same
CN110215339B (en) * 2019-07-03 2022-01-07 中山大学 Method for realizing path planning of automatic mechanical operation arm
WO2021071991A1 (en) * 2019-10-07 2021-04-15 S&N Orion Prime, S.A. Systems and methods for changing the direction of view during video guided clinical procedures using real-time image processing
RU2721461C1 (en) * 2020-02-25 2020-05-19 Ассистирующие Хирургические Технологии (Аст), Лтд Method of controlling a camera in a robot-surgical system
DE112021003252T5 (en) * 2020-06-16 2023-04-06 Fanuc Corporation robot control device
KR102614596B1 (en) * 2020-07-27 2023-12-18 유펙스메드 주식회사 Multi-lumen medical dispensing device for combination of multiple treatment tools
US11925321B2 (en) 2020-08-06 2024-03-12 Canon U.S.A., Inc. Anti-twist tip for steerable catheter
CN114601564B (en) * 2020-10-08 2023-08-22 深圳市精锋医疗科技股份有限公司 Surgical robot, graphical control device thereof and graphical display method thereof
CN112043396B (en) * 2020-10-08 2022-03-04 深圳市精锋医疗科技股份有限公司 Surgical robot, graphical control device thereof and graphical display method
CN111991084B (en) * 2020-10-08 2022-04-26 深圳市精锋医疗科技股份有限公司 Surgical robot, virtual imaging control method thereof and virtual imaging control device thereof
CN114099006B (en) * 2021-11-24 2023-05-26 重庆金山医疗机器人有限公司 Instrument and endoscope distance prompting method
US20230240513A1 (en) 2022-02-02 2023-08-03 Canon U.S.A., Inc. Antitwist mechanism for robotic endoscope camera
KR102478344B1 (en) * 2022-07-06 2022-12-16 주식회사 에어스메디컬 Method, program, and apparatus for mornitoring control of medical robot

Family Cites Families (365)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3628535A (en) 1969-11-12 1971-12-21 Nibot Corp Surgical instrument for implanting a prosthetic heart valve or the like
US3818284A (en) 1972-12-07 1974-06-18 Marotta Scientific Controls Valve control with pulse width modulation
US3923166A (en) 1973-10-11 1975-12-02 Nasa Remote manipulator system
US3905215A (en) 1974-06-26 1975-09-16 John R Wright Ultrasensitive force measuring instrument employing torsion balance
US4150326A (en) 1977-09-19 1979-04-17 Unimation, Inc. Trajectory correlation and error detection method and apparatus
US4349837A (en) 1979-07-03 1982-09-14 Spar Aerospace Limited Satellite servicing
US5493595A (en) 1982-02-24 1996-02-20 Schoolman Scientific Corp. Stereoscopically displayed three dimensional medical imaging
US4588348A (en) 1983-05-27 1986-05-13 At&T Bell Laboratories Robotic system utilizing a tactile sensor array
US4577621A (en) 1984-12-03 1986-03-25 Patel Jayendrakumar I Endoscope having novel proximate and distal portions
US4672963A (en) 1985-06-07 1987-06-16 Israel Barken Apparatus and method for computer controlled laser surgery
US4644237A (en) 1985-10-17 1987-02-17 International Business Machines Corp. Collision avoidance system
US4722056A (en) 1986-02-18 1988-01-26 Trustees Of Dartmouth College Reference display systems for superimposing a tomagraphic image onto the focal plane of an operating microscope
JPH085018B2 (en) 1986-02-26 1996-01-24 株式会社日立製作所 Remote manipulation method and apparatus
US4762456A (en) 1986-06-11 1988-08-09 Nelson Arthur J Accommodations to exchange containers between vessels
JPH0766290B2 (en) 1986-06-26 1995-07-19 東芝機械株式会社 Tool path generation method
US4791934A (en) 1986-08-07 1988-12-20 Picker International, Inc. Computer tomography assisted stereotactic surgery system and method
GB2194656B (en) 1986-09-03 1991-10-09 Ibm Method and system for solid modelling
JPH0829509B2 (en) 1986-12-12 1996-03-27 株式会社日立製作所 Control device for manipulator
US4839838A (en) 1987-03-30 1989-06-13 Labiche Mitchell Spatial input apparatus
US4860215A (en) 1987-04-06 1989-08-22 California Institute Of Technology Method and apparatus for adaptive force and position control of manipulators
US4863133A (en) 1987-05-26 1989-09-05 Leonard Medical Arm device for adjustable positioning of a medical instrument or the like
US4762455A (en) 1987-06-01 1988-08-09 Remote Technology Corporation Remote manipulator
US4831549A (en) 1987-07-28 1989-05-16 Brigham Young University Device and method for correction of robot inaccuracy
US4833383A (en) 1987-08-13 1989-05-23 Iowa State University Research Foundation, Inc. Means and method of camera space manipulation
US5170347A (en) 1987-11-27 1992-12-08 Picker International, Inc. System to reformat images for three-dimensional display using unique spatial encoding and non-planar bisectioning
US5079699A (en) 1987-11-27 1992-01-07 Picker International, Inc. Quick three-dimensional display
EP0326768A3 (en) 1988-02-01 1991-01-23 Faro Medical Technologies Inc. Computer-aided surgery apparatus
US4815450A (en) 1988-02-01 1989-03-28 Patel Jayendra I Endoscope having variable flexibility
US5251127A (en) 1988-02-01 1993-10-05 Faro Medical Technologies Inc. Computer-aided surgery apparatus
US5046022A (en) 1988-03-10 1991-09-03 The Regents Of The University Of Michigan Tele-autonomous system and method employing time/position synchrony/desynchrony
US5187796A (en) 1988-03-29 1993-02-16 Computer Motion, Inc. Three-dimensional vector co-processor having I, J, and K register files and I, J, and K execution units
US4989253A (en) 1988-04-15 1991-01-29 The Montefiore Hospital Association Of Western Pennsylvania Voice activated microscope
US4979949A (en) 1988-04-26 1990-12-25 The Board Of Regents Of The University Of Washington Robot-aided system for surgery
US4984157A (en) 1988-09-21 1991-01-08 General Electric Company System and method for displaying oblique planar cross sections of a solid body using tri-linear interpolation to determine pixel position dataes
GB2226245A (en) 1988-11-18 1990-06-27 Alan Crockard Endoscope, remote actuator and aneurysm clip applicator.
US4942539A (en) 1988-12-21 1990-07-17 Gmf Robotics Corporation Method and system for automatically determining the position and orientation of an object in 3-D space
US5099846A (en) 1988-12-23 1992-03-31 Hardy Tyrone L Method and apparatus for video presentation from a variety of scanner imaging sources
US5098426A (en) 1989-02-06 1992-03-24 Phoenix Laser Systems, Inc. Method and apparatus for precision laser surgery
US5184009A (en) 1989-04-10 1993-02-02 Wright Scott M Optical attenuator movement detection system
US5053976A (en) 1989-05-22 1991-10-01 Honda Giken Kogyo Kabushiki Kaisha Method of teaching a robot
US5257203A (en) 1989-06-09 1993-10-26 Regents Of The University Of Minnesota Method and apparatus for manipulating computer-based representations of objects of complex and unique geometry
DE3935256C1 (en) 1989-10-23 1991-01-03 Bauerfeind, Peter, Dr., 8264 Waldkraiburg, De
US5181823A (en) 1989-10-27 1993-01-26 Grumman Aerospace Corporation Apparatus and method for producing a video display
ES2085885T3 (en) 1989-11-08 1996-06-16 George S Allen MECHANICAL ARM FOR INTERACTIVE SURGERY SYSTEM DIRECTED BY IMAGES.
US5086401A (en) 1990-05-11 1992-02-04 International Business Machines Corporation Image-directed robotic system for precise robotic surgery including redundant consistency checking
EP0487110B1 (en) 1990-11-22 1999-10-06 Kabushiki Kaisha Toshiba Computer-aided diagnosis system for medical use
US5217003A (en) 1991-03-18 1993-06-08 Wilk Peter J Automated surgical system and apparatus
US5217453A (en) 1991-03-18 1993-06-08 Wilk Peter J Automated surgical system and apparatus
US5176702A (en) 1991-04-04 1993-01-05 Symbiosis Corporation Ratchet locking mechanism for surgical instruments
US5251611A (en) 1991-05-07 1993-10-12 Zehel Wendell E Method and apparatus for conducting exploratory procedures
US5313306A (en) 1991-05-13 1994-05-17 Telerobotics International, Inc. Omniview motionless camera endoscopy system
US5181514A (en) 1991-05-21 1993-01-26 Hewlett-Packard Company Transducer positioning system
US5266875A (en) 1991-05-23 1993-11-30 Massachusetts Institute Of Technology Telerobotic system
US5279309A (en) 1991-06-13 1994-01-18 International Business Machines Corporation Signaling device and method for monitoring positions in a surgical operation
US5417210A (en) 1992-05-27 1995-05-23 International Business Machines Corporation System and method for augmentation of endoscopic surgery
US5182641A (en) 1991-06-17 1993-01-26 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Composite video and graphics display for camera viewing systems in robotics and teleoperation
US5261404A (en) 1991-07-08 1993-11-16 Mick Peter R Three-dimensional mammal anatomy imaging system and method
US5184601A (en) 1991-08-05 1993-02-09 Putman John M Endoscope stabilizer
US5889670A (en) 1991-10-24 1999-03-30 Immersion Corporation Method and apparatus for tactilely responsive user interface
US5230623A (en) 1991-12-10 1993-07-27 Radionics, Inc. Operating pointer with interactive computergraphics
US5531742A (en) 1992-01-15 1996-07-02 Barken; Israel Apparatus and method for computer controlled cryosurgery
US5631973A (en) 1994-05-05 1997-05-20 Sri International Method for telemanipulation with telepresence
US6963792B1 (en) 1992-01-21 2005-11-08 Sri International Surgical method
EP0776738B1 (en) 1992-01-21 2002-04-03 Sri International An endoscopic surgical instrument
DE4204397C2 (en) 1992-02-14 2001-08-30 Sinz Dirk Peter Shipping container
US5430643A (en) 1992-03-11 1995-07-04 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Configuration control of seven degree of freedom arms
US5737500A (en) 1992-03-11 1998-04-07 California Institute Of Technology Mobile dexterous siren degree of freedom robot arm with real-time control system
JP3285924B2 (en) * 1992-04-10 2002-05-27 オリンパス光学工業株式会社 Bay bending equipment
US5321353A (en) 1992-05-13 1994-06-14 Storage Technolgy Corporation System and method for precisely positioning a robotic tool
US5482029A (en) 1992-06-26 1996-01-09 Kabushiki Kaisha Toshiba Variable flexibility endoscope system
US5361768A (en) 1992-06-30 1994-11-08 Cardiovascular Imaging Systems, Inc. Automated longitudinal position translator for ultrasonic imaging probes, and methods of using same
US5239246A (en) 1992-07-08 1993-08-24 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Force reflection with compliance control
AT399647B (en) * 1992-07-31 1995-06-26 Truppe Michael ARRANGEMENT FOR DISPLAYING THE INTERIOR OF BODIES
US5515478A (en) 1992-08-10 1996-05-07 Computer Motion, Inc. Automated endoscope system for optimal positioning
US5754741A (en) 1992-08-10 1998-05-19 Computer Motion, Inc. Automated endoscope for optimal positioning
US5657429A (en) 1992-08-10 1997-08-12 Computer Motion, Inc. Automated endoscope system optimal positioning
US5762458A (en) 1996-02-20 1998-06-09 Computer Motion, Inc. Method and apparatus for performing minimally invasive cardiac procedures
US5524180A (en) 1992-08-10 1996-06-04 Computer Motion, Inc. Automated endoscope system for optimal positioning
US5397323A (en) 1992-10-30 1995-03-14 International Business Machines Corporation Remote center-of-motion robot for surgery
US5788688A (en) 1992-11-05 1998-08-04 Bauer Laboratories, Inc. Surgeon's command and control
US5629594A (en) 1992-12-02 1997-05-13 Cybernet Systems Corporation Force feedback system
DE9302650U1 (en) 1993-02-24 1993-04-15 Karl Storz GmbH & Co, 7200 Tuttlingen Medical forceps
AU687045B2 (en) 1993-03-31 1998-02-19 Luma Corporation Managing information in an endoscopy system
WO1994026167A1 (en) 1993-05-14 1994-11-24 Sri International Remote center positioner
US5791231A (en) 1993-05-17 1998-08-11 Endorobotics Corporation Surgical robotic system and hydraulic actuator therefor
AU7468494A (en) 1993-07-07 1995-02-06 Cornelius Borst Robotic system for close inspection and remote treatment of moving parts
US5382885A (en) 1993-08-09 1995-01-17 The University Of British Columbia Motion scaling tele-operating system with force feedback suitable for microsurgery
US5343385A (en) 1993-08-17 1994-08-30 International Business Machines Corporation Interference-free insertion of a solid body into a cavity
US5503320A (en) 1993-08-19 1996-04-02 United States Surgical Corporation Surgical apparatus with indicator
FR2709656B1 (en) 1993-09-07 1995-12-01 Deemed Int Sa Installation for computer-assisted microsurgery operation and methods implemented by said installation.
SE9303253D0 (en) 1993-10-05 1993-10-05 Siemens Elema Ab Instruments for peephole surgery
US6059718A (en) 1993-10-18 2000-05-09 Olympus Optical Co., Ltd. Endoscope form detecting apparatus in which coil is fixedly mounted by insulating member so that form is not deformed within endoscope
JPH08107875A (en) 1994-08-18 1996-04-30 Olympus Optical Co Ltd Endoscope shape detector
US5876325A (en) * 1993-11-02 1999-03-02 Olympus Optical Co., Ltd. Surgical manipulation system
US5842473A (en) 1993-11-29 1998-12-01 Life Imaging Systems Three-dimensional imaging system
AU7601094A (en) 1993-12-15 1995-07-03 Computer Motion, Inc. Automated endoscope system for optimal positioning
US6241725B1 (en) 1993-12-15 2001-06-05 Sherwood Services Ag High frequency thermal ablation of cancerous tumors and functional targets with image data assistance
JPH07184923A (en) 1993-12-28 1995-07-25 Hitachi Ltd Remote precise surgical operation supporting device
US5454827A (en) 1994-05-24 1995-10-03 Aust; Gilbert M. Surgical instrument
US5835693A (en) 1994-07-22 1998-11-10 Lynch; James D. Interactive system for simulation and display of multi-body systems in three dimensions
US6115053A (en) 1994-08-02 2000-09-05 New York University Computer animation method and system for synthesizing human-like gestures and actions
NO300407B1 (en) 1994-08-30 1997-05-26 Vingmed Sound As Apparatus for endoscope or gastroscope examination of patients
US6120433A (en) 1994-09-01 2000-09-19 Olympus Optical Co., Ltd. Surgical manipulator system
US5528955A (en) 1994-09-08 1996-06-25 Hannaford; Blake Five axis direct-drive mini-robot having fifth actuator located at non-adjacent joint
JP3695779B2 (en) 1994-09-27 2005-09-14 オリンパス株式会社 Manipulator system
US5765561A (en) 1994-10-07 1998-06-16 Medical Media Systems Video-based surgical targeting system
JP3642812B2 (en) 1994-11-17 2005-04-27 株式会社町田製作所 Medical observation device
JPH08154321A (en) 1994-11-29 1996-06-11 Tokyo Electric Power Co Inc:The Remote control robot
JP3640087B2 (en) 1994-11-29 2005-04-20 豊田工機株式会社 Machine Tools
JPH08164148A (en) 1994-12-13 1996-06-25 Olympus Optical Co Ltd Surgical operation device under endoscope
JP3539645B2 (en) 1995-02-16 2004-07-07 株式会社日立製作所 Remote surgery support device
US6019724A (en) 1995-02-22 2000-02-01 Gronningsaeter; Aage Method for ultrasound guidance during clinical procedures
US5836880A (en) 1995-02-27 1998-11-17 Micro Chemical, Inc. Automated system for measuring internal tissue characteristics in feed animals
US5797849A (en) 1995-03-28 1998-08-25 Sonometrics Corporation Method for carrying out a medical procedure using a three-dimensional tracking and imaging system
US5817022A (en) 1995-03-28 1998-10-06 Sonometrics Corporation System for displaying a 2-D ultrasound image within a 3-D viewing environment
JPH08275958A (en) 1995-04-07 1996-10-22 Olympus Optical Co Ltd Manipulator device for operation
US5887121A (en) 1995-04-21 1999-03-23 International Business Machines Corporation Method of constrained Cartesian control of robotic mechanisms with active and passive joints
JP3986099B2 (en) 1995-05-02 2007-10-03 オリンパス株式会社 Surgical manipulator system
US5759151A (en) 1995-06-07 1998-06-02 Carnegie Mellon University Flexible steerable device for conducting exploratory procedures
US5649956A (en) 1995-06-07 1997-07-22 Sri International System and method for releasably holding a surgical instrument
US5814038A (en) 1995-06-07 1998-09-29 Sri International Surgical manipulator for a telerobotic system
US5551432A (en) 1995-06-19 1996-09-03 New York Eye & Ear Infirmary Scanning control system for ultrasound biomicroscopy
WO1997000649A1 (en) 1995-06-20 1997-01-09 Wan Sing Ng Articulated arm for medical procedures
US6702736B2 (en) 1995-07-24 2004-03-09 David T. Chen Anatomical visualization system
US6256529B1 (en) 1995-07-26 2001-07-03 Burdette Medical Systems, Inc. Virtual reality 3D visualization for surgical procedures
DE19529950C1 (en) 1995-08-14 1996-11-14 Deutsche Forsch Luft Raumfahrt Guiding method for stereo laparoscope in minimal invasive surgery
US5638819A (en) 1995-08-29 1997-06-17 Manwaring; Kim H. Method and apparatus for guiding an instrument to a target
US5784542A (en) 1995-09-07 1998-07-21 California Institute Of Technology Decoupled six degree-of-freedom teleoperated robot system
US5825982A (en) 1995-09-15 1998-10-20 Wright; James Head cursor control interface for an automated endoscope system for optimal positioning
US5601085A (en) 1995-10-02 1997-02-11 Nycomed Imaging As Ultrasound imaging
US5987591A (en) 1995-12-27 1999-11-16 Fanuc Limited Multiple-sensor robot system for obtaining two-dimensional image and three-dimensional position information
US5624398A (en) 1996-02-08 1997-04-29 Symbiosis Corporation Endoscopic robotic surgical tools and methods
US6699177B1 (en) 1996-02-20 2004-03-02 Computer Motion, Inc. Method and apparatus for performing minimally invasive surgical procedures
US6436107B1 (en) 1996-02-20 2002-08-20 Computer Motion, Inc. Method and apparatus for performing minimally invasive surgical procedures
US5971976A (en) 1996-02-20 1999-10-26 Computer Motion, Inc. Motion minimization and compensation system for use in surgical procedures
US5855583A (en) 1996-02-20 1999-01-05 Computer Motion, Inc. Method and apparatus for performing minimally invasive cardiac procedures
US6063095A (en) 1996-02-20 2000-05-16 Computer Motion, Inc. Method and apparatus for performing minimally invasive surgical procedures
WO1997044089A1 (en) 1996-05-17 1997-11-27 Biosense Inc. Self-aligning catheter
US5792135A (en) 1996-05-20 1998-08-11 Intuitive Surgical, Inc. Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity
US5797900A (en) 1996-05-20 1998-08-25 Intuitive Surgical, Inc. Wrist mechanism for surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity
US5807377A (en) 1996-05-20 1998-09-15 Intuitive Surgical, Inc. Force-reflecting surgical instrument and positioning mechanism for performing minimally invasive surgery with enhanced dexterity and sensitivity
US6167296A (en) 1996-06-28 2000-12-26 The Board Of Trustees Of The Leland Stanford Junior University Method for volumetric image navigation
GB9616261D0 (en) 1996-08-02 1996-09-11 Philips Electronics Nv Virtual environment manipulation device modelling and control
US6642836B1 (en) 1996-08-06 2003-11-04 Computer Motion, Inc. General purpose distributed operating room control system
JP3550966B2 (en) 1996-09-18 2004-08-04 株式会社日立製作所 Surgical equipment
US7302288B1 (en) 1996-11-25 2007-11-27 Z-Kat, Inc. Tool position indicator
US5810008A (en) 1996-12-03 1998-09-22 Isg Technologies Inc. Apparatus and method for visualizing ultrasonic images
US6331181B1 (en) 1998-12-08 2001-12-18 Intuitive Surgical, Inc. Surgical robotic tools, data architecture, and use
US5853367A (en) 1997-03-17 1998-12-29 General Electric Company Task-interface and communications system and method for ultrasound imager control
US5938678A (en) 1997-06-11 1999-08-17 Endius Incorporated Surgical instrument
JPH11309A (en) 1997-06-12 1999-01-06 Hitachi Ltd Image processor
US6330837B1 (en) 1997-08-28 2001-12-18 Microdexterity Systems, Inc. Parallel mechanism
US6002184A (en) 1997-09-17 1999-12-14 Coactive Drive Corporation Actuator with opposing repulsive magnetic forces
EP1015944B1 (en) 1997-09-19 2013-02-27 Massachusetts Institute Of Technology Surgical robotic apparatus
US6714839B2 (en) 1998-12-08 2004-03-30 Intuitive Surgical, Inc. Master having redundant degrees of freedom
US5993391A (en) 1997-09-25 1999-11-30 Kabushiki Kaisha Toshiba Ultrasound diagnostic apparatus
AU1452199A (en) 1997-11-07 1999-05-31 Hill-Rom, Inc. Medical equipment controller
US6129670A (en) 1997-11-24 2000-10-10 Burdette Medical Systems Real time brachytherapy spatial registration and visualization system
US6358749B1 (en) 1997-12-02 2002-03-19 Ozo Diversified Automation, Inc. Automated system for chromosome microdissection and method of using same
US5842993A (en) 1997-12-10 1998-12-01 The Whitaker Corporation Navigable ultrasonic imaging probe assembly
US6292712B1 (en) 1998-01-29 2001-09-18 Northrop Grumman Corporation Computer interface system for a robotic system
WO1999038646A1 (en) 1998-02-03 1999-08-05 Hexel Corporation Systems and methods employing a rotary track for machining and manufacturing
DE69922791T2 (en) * 1998-02-19 2005-12-08 California Institute Of Technology, Pasadena DEVICE FOR PROVIDING A SPHERICAL SEA FIELD DURING ENDOSCOPIC INTERVENTION
US6810281B2 (en) 2000-12-21 2004-10-26 Endovia Medical, Inc. Medical mapping system
JP3582348B2 (en) 1998-03-19 2004-10-27 株式会社日立製作所 Surgical equipment
US5980461A (en) 1998-05-01 1999-11-09 Rajan; Subramaniam D. Ultrasound imaging apparatus for medical diagnostics
EP2289423A1 (en) 1998-05-14 2011-03-02 David N. Krag System for bracketing tissue
US6425865B1 (en) 1998-06-12 2002-07-30 The University Of British Columbia Robotically assisted medical ultrasound
US6184868B1 (en) 1998-09-17 2001-02-06 Immersion Corp. Haptic feedback control devices
AU5391999A (en) 1998-08-04 2000-02-28 Intuitive Surgical, Inc. Manipulator positioning linkage for robotic surgery
US6383951B1 (en) 1998-09-03 2002-05-07 Micron Technology, Inc. Low dielectric constant material for integrated circuit fabrication
US5993390A (en) 1998-09-18 1999-11-30 Hewlett- Packard Company Segmented 3-D cardiac ultrasound imaging method and apparatus
WO2000028882A2 (en) 1998-11-18 2000-05-25 Microdexterity Systems, Inc. Medical manipulator for use with an imaging device
US6398726B1 (en) 1998-11-20 2002-06-04 Intuitive Surgical, Inc. Stabilizer for robotic beating-heart surgery
US6852107B2 (en) 2002-01-16 2005-02-08 Computer Motion, Inc. Minimally invasive surgical training using robotics and tele-collaboration
US6659939B2 (en) 1998-11-20 2003-12-09 Intuitive Surgical, Inc. Cooperative minimally invasive telesurgical system
US6468265B1 (en) 1998-11-20 2002-10-22 Intuitive Surgical, Inc. Performing cardiac surgery without cardioplegia
US6459926B1 (en) 1998-11-20 2002-10-01 Intuitive Surgical, Inc. Repositioning and reorientation of master/slave relationship in minimally invasive telesurgery
US8527094B2 (en) 1998-11-20 2013-09-03 Intuitive Surgical Operations, Inc. Multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures
US6951535B2 (en) 2002-01-16 2005-10-04 Intuitive Surgical, Inc. Tele-medicine system that transmits an entire state of a subsystem
US6342889B1 (en) 1998-11-27 2002-01-29 Dicomit Dicom Information Technologies Corp. Method and system for selecting at least one optimal view of a three dimensional image
US6522906B1 (en) 1998-12-08 2003-02-18 Intuitive Surgical, Inc. Devices and methods for presenting and regulating auxiliary information on an image display of a telesurgical system to assist an operator in performing a surgical procedure
US6325808B1 (en) 1998-12-08 2001-12-04 Advanced Realtime Control Systems, Inc. Robotic system, docking station, and surgical tool for collaborative control in minimally invasive surgery
US6770081B1 (en) 2000-01-07 2004-08-03 Intuitive Surgical, Inc. In vivo accessories for minimally invasive robotic surgery and methods
US6493608B1 (en) 1999-04-07 2002-12-10 Intuitive Surgical, Inc. Aspects of a control system of a minimally invasive surgical apparatus
US6620173B2 (en) 1998-12-08 2003-09-16 Intuitive Surgical, Inc. Method for introducing an end effector to a surgical site in minimally invasive surgery
US6799065B1 (en) 1998-12-08 2004-09-28 Intuitive Surgical, Inc. Image shifting apparatus and method for a telerobotic system
JP2000193893A (en) 1998-12-28 2000-07-14 Suzuki Motor Corp Bending device of insertion tube for inspection
US6224542B1 (en) 1999-01-04 2001-05-01 Stryker Corporation Endoscopic camera system with non-mechanical zoom
US6394998B1 (en) 1999-01-22 2002-05-28 Intuitive Surgical, Inc. Surgical tools for use in minimally invasive telesurgical applications
US6602185B1 (en) 1999-02-18 2003-08-05 Olympus Optical Co., Ltd. Remote surgery support system
US6084371A (en) 1999-02-19 2000-07-04 Lockheed Martin Energy Research Corporation Apparatus and methods for a human de-amplifier system
CN1202882C (en) 1999-02-25 2005-05-25 是永哲也 Electric therapeutic device
US7324081B2 (en) 1999-03-02 2008-01-29 Siemens Aktiengesellschaft Augmented-reality system for situation-related support of the interaction between a user and an engineering apparatus
US6243624B1 (en) 1999-03-19 2001-06-05 Northwestern University Non-Linear muscle-like compliant controller
US6569084B1 (en) 1999-03-31 2003-05-27 Olympus Optical Co., Ltd. Endoscope holder and endoscope device
US8944070B2 (en) 1999-04-07 2015-02-03 Intuitive Surgical Operations, Inc. Non-force reflecting method for providing tool force information to a user of a telesurgical system
US6424885B1 (en) 1999-04-07 2002-07-23 Intuitive Surgical, Inc. Camera referenced control in a minimally invasive surgical apparatus
US6594552B1 (en) 1999-04-07 2003-07-15 Intuitive Surgical, Inc. Grip strength with tactile feedback for robotic surgery
JP2000300579A (en) 1999-04-26 2000-10-31 Olympus Optical Co Ltd Multifunctional manipulator
JP3668865B2 (en) 1999-06-21 2005-07-06 株式会社日立製作所 Surgical device
US7637905B2 (en) * 2003-01-15 2009-12-29 Usgi Medical, Inc. Endoluminal tool deployment system
US8574243B2 (en) 1999-06-25 2013-11-05 Usgi Medical, Inc. Apparatus and methods for forming and securing gastrointestinal tissue folds
JP4302246B2 (en) 1999-08-25 2009-07-22 住友ベークライト株式会社 Medical treatment instrument insertion tool
US8004229B2 (en) 2005-05-19 2011-08-23 Intuitive Surgical Operations, Inc. Software center and highly configurable robotic systems for surgery and other uses
US7594912B2 (en) 2004-09-30 2009-09-29 Intuitive Surgical, Inc. Offset remote center manipulator for robotic surgery
JP2001104333A (en) 1999-10-07 2001-04-17 Hitachi Ltd Surgery support device
US6312435B1 (en) 1999-10-08 2001-11-06 Intuitive Surgical, Inc. Surgical instrument with extended reach for use in minimally invasive surgery
US6654031B1 (en) 1999-10-15 2003-11-25 Hitachi Kokusai Electric Inc. Method of editing a video program with variable view point of picked-up image and computer program product for displaying video program
JP2001202531A (en) 1999-10-15 2001-07-27 Hitachi Kokusai Electric Inc Method for editing moving image
AU4305201A (en) 1999-11-29 2001-06-04 Board Of Trustees Of The Leland Stanford Junior University Method and apparatus for transforming view orientations in image-guided surgery
US6204620B1 (en) 1999-12-10 2001-03-20 Fanuc Robotics North America Method of controlling an intelligent assist device
DE19961971B4 (en) * 1999-12-22 2009-10-22 Forschungszentrum Karlsruhe Gmbh Device for safely automatically tracking an endoscope and tracking an instrument
US6847922B1 (en) 2000-01-06 2005-01-25 General Motors Corporation Method for computer-aided layout of manufacturing cells
JP2001287183A (en) 2000-01-31 2001-10-16 Matsushita Electric Works Ltd Automatic conveyance robot
DE10004264C2 (en) * 2000-02-01 2002-06-13 Storz Karl Gmbh & Co Kg Device for the intracorporeal, minimally invasive treatment of a patient
US7819799B2 (en) 2000-03-16 2010-10-26 Immersion Medical, Inc. System and method for controlling force applied to and manipulation of medical instruments
US6817973B2 (en) 2000-03-16 2004-11-16 Immersion Medical, Inc. Apparatus for controlling force for manipulation of medical instruments
DE10015826A1 (en) 2000-03-30 2001-10-11 Siemens Ag Image generating system for medical surgery
US6984203B2 (en) 2000-04-03 2006-01-10 Neoguide Systems, Inc. Endoscope with adjacently positioned guiding apparatus
US20010055062A1 (en) 2000-04-20 2001-12-27 Keiji Shioda Operation microscope
DE10025285A1 (en) 2000-05-22 2001-12-06 Siemens Ag Fully automatic, robot-assisted camera guidance using position sensors for laparoscopic interventions
US6645196B1 (en) 2000-06-16 2003-11-11 Intuitive Surgical, Inc. Guided tool change
US6599247B1 (en) 2000-07-07 2003-07-29 University Of Pittsburgh System and method for location-merging of real-time tomographic slice images with human vision
EP1182541A3 (en) 2000-08-22 2005-11-30 Siemens Aktiengesellschaft System and method for combined use of different display/apparatus types with system controlled context dependant information representation
JP4765155B2 (en) 2000-09-28 2011-09-07 ソニー株式会社 Authoring system, authoring method, and storage medium
US7194118B1 (en) 2000-11-10 2007-03-20 Lucid, Inc. System for optically sectioning and mapping surgically excised tissue
US6718194B2 (en) 2000-11-17 2004-04-06 Ge Medical Systems Global Technology Company, Llc Computer assisted intramedullary rod surgery system with enhanced features
DE10063089C1 (en) 2000-12-18 2002-07-25 Siemens Ag User-controlled linking of information within an augmented reality system
EP1351619A4 (en) 2001-01-16 2011-01-05 Microdexterity Systems Inc Surgical manipulator
US7766894B2 (en) 2001-02-15 2010-08-03 Hansen Medical, Inc. Coaxial catheter system
US6765569B2 (en) 2001-03-07 2004-07-20 University Of Southern California Augmented-reality tool employing scene-feature autocalibration during camera motion
JP3769469B2 (en) 2001-03-28 2006-04-26 株式会社東芝 Operation training equipment
US6456901B1 (en) 2001-04-20 2002-09-24 Univ Michigan Hybrid robot motion task level control system
US6862561B2 (en) 2001-05-29 2005-03-01 Entelos, Inc. Method and apparatus for computer modeling a joint
US7607440B2 (en) 2001-06-07 2009-10-27 Intuitive Surgical, Inc. Methods and apparatus for surgical planning
US6887245B2 (en) 2001-06-11 2005-05-03 Ge Medical Systems Global Technology Company, Llc Surgical drill for use with a computer assisted surgery system
CA2486525C (en) 2001-06-13 2009-02-24 Volume Interactions Pte. Ltd. A guide system and a probe therefor
WO2002100284A1 (en) 2001-06-13 2002-12-19 Volume Interactions Pte Ltd A guide system
US20040243147A1 (en) 2001-07-03 2004-12-02 Lipow Kenneth I. Surgical robot and robotic controller
WO2003007129A2 (en) 2001-07-13 2003-01-23 Broks Automation, Inc. Trajectory planning and motion control strategies for a planar three-degree-of-freedom robotic arm
US6550757B2 (en) 2001-08-07 2003-04-22 Hewlett-Packard Company Stapler having selectable staple size
JP3579379B2 (en) 2001-08-10 2004-10-20 株式会社東芝 Medical manipulator system
US6587750B2 (en) 2001-09-25 2003-07-01 Intuitive Surgical, Inc. Removable infinite roll master grip handle and touch sensor for robotic surgery
US20040238732A1 (en) 2001-10-19 2004-12-02 Andrei State Methods and systems for dynamic virtual convergence and head mountable display
JP3529373B2 (en) 2001-11-09 2004-05-24 ファナック株式会社 Work machine simulation equipment
US6663559B2 (en) * 2001-12-14 2003-12-16 Endactive, Inc. Interface for a variable direction of view endoscope
US6941192B2 (en) 2002-01-31 2005-09-06 Abb Research Ltd. Robot machining tool position and orientation calibration
US8010180B2 (en) 2002-03-06 2011-08-30 Mako Surgical Corp. Haptic guidance system and method
US7831292B2 (en) 2002-03-06 2010-11-09 Mako Surgical Corp. Guidance system and method for surgical procedures with improved feedback
AU2003218010A1 (en) 2002-03-06 2003-09-22 Z-Kat, Inc. System and method for using a haptic device in combination with a computer-assisted surgery system
JP2003300444A (en) 2002-04-11 2003-10-21 Hitachi Ltd Drive support device for moving body
JP4056791B2 (en) 2002-05-22 2008-03-05 策雄 米延 Fracture reduction guidance device
US6678582B2 (en) 2002-05-30 2004-01-13 Kuka Roboter Gmbh Method and control device for avoiding collisions between cooperating robots
US6783491B2 (en) 2002-06-13 2004-08-31 Vahid Saadat Shape lockable apparatus and method for advancing an instrument through unsupported anatomy
EP1378832A1 (en) * 2002-07-04 2004-01-07 Sap Ag Process and system for comfortable debugging of computer programs
EP1531749A2 (en) 2002-08-13 2005-05-25 Microbotics Corporation Microsurgical robot system
JP4169549B2 (en) 2002-09-06 2008-10-22 オリンパス株式会社 Endoscope
JP2004105638A (en) 2002-09-20 2004-04-08 Shimadzu Corp Ultrasonic diagnostic apparatus
US20040077940A1 (en) 2002-10-11 2004-04-22 Kienzle Thomas C. Instrument guide for use with a tracking system
JP2004174662A (en) 2002-11-27 2004-06-24 Fanuc Ltd Operation state analysis device for robot
SE0203908D0 (en) 2002-12-30 2002-12-30 Abb Research Ltd An augmented reality system and method
JP2004223128A (en) 2003-01-27 2004-08-12 Hitachi Ltd Medical practice supporting apparatus and method
FR2850775B1 (en) 2003-01-30 2005-07-22 Ge Med Sys Global Tech Co Llc MEDICAL IMAGING DEVICE WITH SEMIAUTOMATIC REORIENTATION OF RADIOLOGICAL OBJECT
JP3972854B2 (en) 2003-04-10 2007-09-05 ソニー株式会社 Robot motion control device
JP3975959B2 (en) 2003-04-23 2007-09-12 トヨタ自動車株式会社 Robot operation regulating method and apparatus, and robot equipped with the same
WO2005000139A1 (en) 2003-04-28 2005-01-06 Bracco Imaging Spa Surgical navigation imaging system
EP1628632B1 (en) 2003-05-21 2013-10-09 The Johns Hopkins University Devices and systems for minimally invasive surgery of the throat and other portions of mammalian body
US20050054895A1 (en) * 2003-09-09 2005-03-10 Hoeg Hans David Method for using variable direction of view endoscopy in conjunction with image guided surgical systems
DE202004014857U1 (en) 2003-09-29 2005-04-21 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Device for the virtual situation analysis of at least one intracorporeally introduced into a body medical instrument
JP2005110878A (en) 2003-10-06 2005-04-28 Olympus Corp Operation supporting system
JP3708097B2 (en) 2003-10-08 2005-10-19 ファナック株式会社 Robot manual feeder
WO2005043319A2 (en) 2003-10-21 2005-05-12 The Board Of Trustees Of The Leland Stanford Junior University Systems and methods for intraoperative targeting
US20050096502A1 (en) * 2003-10-29 2005-05-05 Khalili Theodore M. Robotic surgical device
US7774044B2 (en) 2004-02-17 2010-08-10 Siemens Medical Solutions Usa, Inc. System and method for augmented reality navigation in a medical intervention procedure
US20050267359A1 (en) 2004-05-27 2005-12-01 General Electric Company System, method, and article of manufacture for guiding an end effector to a target position within a person
US7979157B2 (en) 2004-07-23 2011-07-12 Mcmaster University Multi-purpose robotic operating system and method
WO2006086021A2 (en) 2004-10-25 2006-08-17 University Of Dayton Method and system to provide improved accuracies in multi-jointed robots through kinematic robot model parameters determination
US20060149129A1 (en) * 2005-01-05 2006-07-06 Watts H D Catheter with multiple visual elements
US8872906B2 (en) * 2005-01-05 2014-10-28 Avantis Medical Systems, Inc. Endoscope assembly with a polarizing filter
US7763015B2 (en) 2005-01-24 2010-07-27 Intuitive Surgical Operations, Inc. Modular manipulator support for robotic surgery
CN101160104B (en) 2005-02-22 2012-07-04 马科外科公司 Haptic guidance system and method
US8073528B2 (en) 2007-09-30 2011-12-06 Intuitive Surgical Operations, Inc. Tool tracking systems, methods and computer products for image guided surgery
US9492240B2 (en) 2009-06-16 2016-11-15 Intuitive Surgical Operations, Inc. Virtual measurement tool for minimally invasive surgery
US8108072B2 (en) 2007-09-30 2012-01-31 Intuitive Surgical Operations, Inc. Methods and systems for robotic instrument tool tracking with adaptive fusion of kinematics information and image information
US8971597B2 (en) 2005-05-16 2015-03-03 Intuitive Surgical Operations, Inc. Efficient vision and kinematic data fusion for robotic surgical instruments and other applications
US10555775B2 (en) 2005-05-16 2020-02-11 Intuitive Surgical Operations, Inc. Methods and system for performing 3-D tool tracking by fusion of sensor and/or camera derived data during minimally invasive robotic surgery
US9789608B2 (en) 2006-06-29 2017-10-17 Intuitive Surgical Operations, Inc. Synthetic representation of a surgical robot
JP2006321027A (en) * 2005-05-20 2006-11-30 Hitachi Ltd Master slave type manipulator system and its operation input device
EP1887961B1 (en) 2005-06-06 2012-01-11 Intuitive Surgical Operations, Inc. Laparoscopic ultrasound robotic surgical system
US8398541B2 (en) 2006-06-06 2013-03-19 Intuitive Surgical Operations, Inc. Interactive user interfaces for robotic minimally invasive surgical systems
US20070005002A1 (en) 2005-06-30 2007-01-04 Intuitive Surgical Inc. Robotic surgical instruments for irrigation, aspiration, and blowing
JP2007029232A (en) 2005-07-25 2007-02-08 Hitachi Medical Corp System for supporting endoscopic operation
JP2009507617A (en) 2005-09-14 2009-02-26 ネオガイド システムズ, インコーポレイテッド Method and apparatus for performing transluminal and other operations
JP4728075B2 (en) 2005-09-28 2011-07-20 オリンパスメディカルシステムズ株式会社 Endoscope system
EP1937176B1 (en) 2005-10-20 2019-04-17 Intuitive Surgical Operations, Inc. Auxiliary image display and manipulation on a computer display in a medical robotic system
CN101340852B (en) 2005-12-20 2011-12-28 直观外科手术操作公司 Instrument interface of a robotic surgical system
US7453227B2 (en) * 2005-12-20 2008-11-18 Intuitive Surgical, Inc. Medical robotic system with sliding mode control
US7689320B2 (en) 2005-12-20 2010-03-30 Intuitive Surgical Operations, Inc. Robotic surgical system with joint motion controller adapted to reduce instrument tip vibrations
US7819859B2 (en) 2005-12-20 2010-10-26 Intuitive Surgical Operations, Inc. Control system for reducing internally generated frictional and inertial resistance to manual positioning of a surgical manipulator
US9266239B2 (en) 2005-12-27 2016-02-23 Intuitive Surgical Operations, Inc. Constraint based control in a minimally invasive surgical apparatus
US9962066B2 (en) 2005-12-30 2018-05-08 Intuitive Surgical Operations, Inc. Methods and apparatus to shape flexible entry guides for minimally invasive surgery
US20110295295A1 (en) 2006-01-31 2011-12-01 Ethicon Endo-Surgery, Inc. Robotically-controlled surgical instrument having recording capabilities
EP1815949A1 (en) 2006-02-03 2007-08-08 The European Atomic Energy Community (EURATOM), represented by the European Commission Medical robotic system with manipulator arm of the cylindrical coordinate type
EP1815950A1 (en) 2006-02-03 2007-08-08 The European Atomic Energy Community (EURATOM), represented by the European Commission Robotic surgical system for performing minimally invasive medical procedures
US8167823B2 (en) 2009-03-24 2012-05-01 Biomet Manufacturing Corp. Method and apparatus for aligning and securing an implant relative to a patient
ITMI20060443A1 (en) * 2006-03-13 2007-09-14 Ethicon Endo Surgery Inc DEVICE FOR THE MANIPULATION OF BODY TEXTILE
US8924021B2 (en) 2006-04-27 2014-12-30 Honda Motor Co., Ltd. Control of robots from human motion descriptors
DE602007007610D1 (en) 2006-05-17 2010-08-19 Hansen Medical Inc Robotic Instrument System
US7683565B2 (en) 2006-05-19 2010-03-23 Mako Surgical Corp. Method and apparatus for controlling a haptic device
WO2007137208A2 (en) 2006-05-19 2007-11-29 Neoguide Systems, Inc. Methods and apparatus for displaying three-dimensional orientation of a steerable distal tip of an endoscope
CA2651784C (en) 2006-05-19 2015-01-27 Mako Surgical Corp. Method and apparatus for controlling a haptic device
US8377045B2 (en) 2006-06-13 2013-02-19 Intuitive Surgical Operations, Inc. Extendable suction surface for bracing medial devices during robotically assisted medical procedures
EP2038712B2 (en) 2006-06-13 2019-08-28 Intuitive Surgical Operations, Inc. Control system configured to compensate for non-ideal actuator-to-joint linkage characteristics in a medical robotic system
US8029516B2 (en) 2006-06-13 2011-10-04 Intuitive Surgical Operations, Inc. Bracing of bundled medical devices for single port entry, robotically assisted medical procedures
US8062211B2 (en) 2006-06-13 2011-11-22 Intuitive Surgical Operations, Inc. Retrograde instrument
US9718190B2 (en) * 2006-06-29 2017-08-01 Intuitive Surgical Operations, Inc. Tool position and identification indicator displayed in a boundary area of a computer display screen
US20090192523A1 (en) 2006-06-29 2009-07-30 Intuitive Surgical, Inc. Synthetic representation of a surgical instrument
US10008017B2 (en) 2006-06-29 2018-06-26 Intuitive Surgical Operations, Inc. Rendering tool information as graphic overlays on displayed images of tools
US10258425B2 (en) 2008-06-27 2019-04-16 Intuitive Surgical Operations, Inc. Medical robotic system providing an auxiliary view of articulatable instruments extending out of a distal end of an entry guide
DE102006046689A1 (en) 2006-09-29 2008-04-10 Siemens Ag Medical technical treatment system
US7831096B2 (en) 2006-11-17 2010-11-09 General Electric Company Medical navigation system with tool and/or implant integration into fluoroscopic image projections and method of use
DE102006061178A1 (en) 2006-12-22 2008-06-26 Siemens Ag Medical system for carrying out and monitoring a minimal invasive intrusion, especially for treating electro-physiological diseases, has X-ray equipment and a control/evaluation unit
EP2143038A4 (en) 2007-02-20 2011-01-26 Philip L Gildenberg Videotactic and audiotactic assisted surgical methods and procedures
JP4891823B2 (en) * 2007-03-29 2012-03-07 オリンパスメディカルシステムズ株式会社 Endoscope device
EP2148629B1 (en) 2007-04-16 2012-06-06 NeuroArm Surgical, Ltd. Frame mapping and force feedback methods, devices and systems
JP5543331B2 (en) 2007-04-16 2014-07-09 ニューロアーム サージカル リミテッド Method, apparatus, and system for non-mechanically limiting and / or programming movement along one axis of a manipulator tool
WO2009044287A2 (en) 2007-04-16 2009-04-09 The Governors Of The University Of Calgary Methods, devices, and systems for automated movements involving medical robots
US8931682B2 (en) 2007-06-04 2015-01-13 Ethicon Endo-Surgery, Inc. Robotically-controlled shaft based rotary drive systems for surgical instruments
US9138129B2 (en) 2007-06-13 2015-09-22 Intuitive Surgical Operations, Inc. Method and system for moving a plurality of articulated instruments in tandem back towards an entry guide
US9469034B2 (en) 2007-06-13 2016-10-18 Intuitive Surgical Operations, Inc. Method and system for switching modes of a robotic system
US9089256B2 (en) 2008-06-27 2015-07-28 Intuitive Surgical Operations, Inc. Medical robotic system providing an auxiliary view including range of motion limitations for articulatable instruments extending out of a distal end of an entry guide
US9084623B2 (en) 2009-08-15 2015-07-21 Intuitive Surgical Operations, Inc. Controller assisted reconfiguration of an articulated instrument during movement into and out of an entry guide
US8903546B2 (en) 2009-08-15 2014-12-02 Intuitive Surgical Operations, Inc. Smooth control of an articulated instrument across areas with different work space conditions
US8620473B2 (en) 2007-06-13 2013-12-31 Intuitive Surgical Operations, Inc. Medical robotic system with coupled control modes
JP2009006410A (en) 2007-06-26 2009-01-15 Fuji Electric Systems Co Ltd Remote operation support device and remote operation support program
DE102007029884A1 (en) * 2007-06-28 2009-01-15 Siemens Ag A method and apparatus for generating an overall image composed of a plurality of endoscopic frames from an interior surface of a body cavity
JP2009012106A (en) 2007-07-03 2009-01-22 Fuji Electric Systems Co Ltd Remote operation supporting device and program
WO2009046234A2 (en) 2007-10-05 2009-04-09 Ethicon Endo-Surgery, Inc Ergonomic surgical instruments
US9037295B2 (en) 2008-03-07 2015-05-19 Perception Raisonnement Action En Medecine Dynamic physical constraint for hard surface emulation
US8808164B2 (en) 2008-03-28 2014-08-19 Intuitive Surgical Operations, Inc. Controlling a robotic surgical tool with a display monitor
US8155479B2 (en) 2008-03-28 2012-04-10 Intuitive Surgical Operations Inc. Automated panning and digital zooming for robotic surgical systems
US20090259105A1 (en) * 2008-04-10 2009-10-15 Miyano Hiromichi Medical treatment system and suturing method
JP5384178B2 (en) 2008-04-21 2014-01-08 株式会社森精機製作所 Machining simulation method and machining simulation apparatus
US8315738B2 (en) 2008-05-21 2012-11-20 Fanuc Robotics America, Inc. Multi-arm robot system interference check via three dimensional automatic zones
US8414469B2 (en) 2008-06-27 2013-04-09 Intuitive Surgical Operations, Inc. Medical robotic system having entry guide controller with instrument tip velocity limiting
US9179832B2 (en) 2008-06-27 2015-11-10 Intuitive Surgical Operations, Inc. Medical robotic system with image referenced camera control using partitionable orientational and translational modes
US8864652B2 (en) 2008-06-27 2014-10-21 Intuitive Surgical Operations, Inc. Medical robotic system providing computer generated auxiliary views of a camera instrument for controlling the positioning and orienting of its tip
WO2010030397A1 (en) 2008-09-12 2010-03-18 Accuray Incorporated Controlling x-ray imaging based on target motion
US8315720B2 (en) 2008-09-26 2012-11-20 Intuitive Surgical Operations, Inc. Method for graphically providing continuous change of state directions to a user of a medical robotic system
US8126642B2 (en) 2008-10-24 2012-02-28 Gray & Company, Inc. Control and systems for autonomously driven vehicles
US20100331856A1 (en) 2008-12-12 2010-12-30 Hansen Medical Inc. Multiple flexible and steerable elongate instruments for minimally invasive operations
WO2010069430A1 (en) 2008-12-17 2010-06-24 Kuka Roboter Gmbh Method for allowing a manipulator to cover a predetermined trajectory, and control device for carrying out said method
US8335590B2 (en) 2008-12-23 2012-12-18 Intuitive Surgical Operations, Inc. System and method for adjusting an image capturing device attribute using an unused degree-of-freedom of a master control device
US8594841B2 (en) 2008-12-31 2013-11-26 Intuitive Surgical Operations, Inc. Visual force feedback in a minimally invasive surgical procedure
US8306656B1 (en) 2009-01-12 2012-11-06 Titan Medical Inc. Method and system for performing medical procedure
US8423182B2 (en) 2009-03-09 2013-04-16 Intuitive Surgical Operations, Inc. Adaptable integrated energy control system for electrosurgical tools in robotic surgical systems
US8120301B2 (en) 2009-03-09 2012-02-21 Intuitive Surgical Operations, Inc. Ergonomic surgeon control console in robotic surgical systems
US9492927B2 (en) 2009-08-15 2016-11-15 Intuitive Surgical Operations, Inc. Application of force feedback on an input device to urge its operator to command an articulated instrument to a preferred pose
US8918211B2 (en) 2010-02-12 2014-12-23 Intuitive Surgical Operations, Inc. Medical robotic system providing sensory feedback indicating a difference between a commanded state and a preferred pose of an articulated instrument
US8244402B2 (en) 2009-09-22 2012-08-14 GM Global Technology Operations LLC Visual perception system and method for a humanoid robot
EP2533678B1 (en) 2010-02-11 2020-03-25 Intuitive Surgical Operations, Inc. System for automatically maintaining an operator selected roll orientation at a distal tip of a robotic endoscope
JP5782515B2 (en) 2010-08-02 2015-09-24 ザ・ジョンズ・ホプキンス・ユニバーシティ Method of presenting force sensor information using cooperative control of robot and voice feedback
KR101800189B1 (en) 2012-04-30 2017-11-23 삼성전자주식회사 Apparatus and method for controlling power of surgical robot
US10507066B2 (en) 2013-02-15 2019-12-17 Intuitive Surgical Operations, Inc. Providing information of tools by filtering image areas adjacent to or on displayed images of the tools

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See references of WO2010039394A1 *

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9550293B2 (en) 2013-03-18 2017-01-24 Olympus Corporation Manipulator

Also Published As

Publication number Publication date
EP3115159A1 (en) 2017-01-11
WO2010039394A1 (en) 2010-04-08
KR101726614B1 (en) 2017-04-13
US8864652B2 (en) 2014-10-21
KR101653185B1 (en) 2016-09-09
CN102170835A (en) 2011-08-31
KR20110081153A (en) 2011-07-13
CN102170835B (en) 2015-01-21
KR20160105919A (en) 2016-09-07
EP3115159B1 (en) 2018-05-16
EP2349053B1 (en) 2018-02-21
US9516996B2 (en) 2016-12-13
US20090326556A1 (en) 2009-12-31
JP5675621B2 (en) 2015-02-25
US20150065793A1 (en) 2015-03-05
JP2012504017A (en) 2012-02-16

Similar Documents

Publication Publication Date Title
US11638622B2 (en) Medical robotic system providing an auxiliary view of articulatable instruments extending out of a distal end of an entry guide
US9516996B2 (en) Medical robotic system providing computer generated auxiliary views of a camera instrument for controlling the position and orienting of its tip
US11382702B2 (en) Medical robotic system providing an auxiliary view including range of motion limitations for articulatable instruments extending out of a distal end of an entry guide
US11969147B2 (en) System and method for multi-mode imaging device control
US20220354600A1 (en) Medical robotic system providing an auxiliary view including range of motion limitations for articulatable instruments extending out of a distal end of an entry guide

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

17P Request for examination filed

Effective date: 20110317

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO SE SI SK SM TR

DAX Request for extension of the european patent (deleted)
17Q First examination report despatched

Effective date: 20160119

REG Reference to a national code

Ref country code: DE

Ref legal event code: R079

Ref document number: 602009050884

Country of ref document: DE

Free format text: PREVIOUS MAIN CLASS: A61B0019000000

Ipc: A61B0034300000

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

RIC1 Information provided on ipc code assigned before grant

Ipc: G09B 23/28 20060101ALI20170217BHEP

Ipc: G06T 17/00 20060101ALI20170217BHEP

Ipc: A61B 34/20 20160101ALI20170217BHEP

Ipc: B25J 3/00 20060101ALI20170217BHEP

Ipc: A61B 34/37 20160101ALI20170217BHEP

Ipc: A61B 34/30 20160101AFI20170217BHEP

INTG Intention to grant announced

Effective date: 20170316

GRAJ Information related to disapproval of communication of intention to grant by the applicant or resumption of examination proceedings by the epo deleted

Free format text: ORIGINAL CODE: EPIDOSDIGR1

RIN1 Information on inventor provided before grant (corrected)

Inventor name: MOHR, PAUL, W.

Inventor name: GOMEZ, DANIEL

Inventor name: LARKIN, DAVID, Q.

Inventor name: MUSTUFA, TABISH

Inventor name: LILAGAN, PAUL, E.

Inventor name: DIOLAITI, NICOLA

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

INTC Intention to grant announced (deleted)
RAP1 Party data changed (applicant data changed or rights of an application transferred)

Owner name: INTUITIVE SURGICAL OPERATIONS INC.

INTG Intention to grant announced

Effective date: 20170906

RAP1 Party data changed (applicant data changed or rights of an application transferred)

Owner name: INTUITIVE SURGICAL OPERATIONS, INC.

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO SE SI SK SM TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: AT

Ref legal event code: REF

Ref document number: 970854

Country of ref document: AT

Kind code of ref document: T

Effective date: 20180315

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 602009050884

Country of ref document: DE

REG Reference to a national code

Ref country code: NL

Ref legal event code: MP

Effective date: 20180221

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG4D

REG Reference to a national code

Ref country code: AT

Ref legal event code: MK05

Ref document number: 970854

Country of ref document: AT

Kind code of ref document: T

Effective date: 20180221

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: ES

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180221

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180221

Ref country code: NO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180521

Ref country code: FI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180221

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180221

Ref country code: NL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180221

Ref country code: CY

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180221

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180522

Ref country code: LV

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180221

Ref country code: SE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180221

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180521

Ref country code: AT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180221

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 10

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180221

Ref country code: RO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180221

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180221

Ref country code: PL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180221

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 602009050884

Country of ref document: DE

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180221

Ref country code: CZ

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180221

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180221

Ref country code: SM

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180221

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

26N No opposition filed

Effective date: 20181122

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180221

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MC

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180221

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

REG Reference to a national code

Ref country code: BE

Ref legal event code: MM

Effective date: 20180930

REG Reference to a national code

Ref country code: IE

Ref legal event code: MM4A

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20180904

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20180904

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LI

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20180930

Ref country code: CH

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20180930

Ref country code: BE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20180930

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MT

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20180904

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: TR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180221

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180221

Ref country code: HU

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT; INVALID AB INITIO

Effective date: 20090904

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MK

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20180221

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180621

P01 Opt-out of the competence of the unified patent court (upc) registered

Effective date: 20230510

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 20240926

Year of fee payment: 16

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: GB

Payment date: 20240924

Year of fee payment: 16

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: FR

Payment date: 20240925

Year of fee payment: 16